Concurrent with autonomous robots, teleoperation gains importance in industrial applications. This includes human–robot cooperation during complex or harmful operations and remote intervention. A key role in teleoperation is the ability to translate operator inputs to robot movements. Therefore, providing different motion control types is a decisive aspect due to the variety of tasks to be expected. For a wide range of use-cases, a high degree of interoperability to a variety of robot systems is required. In addition, the control input should support up-to-date Human Machine Interfaces. To address the existing challenges, we present a middleware for teleoperation of industrial robots, which is adaptive regarding motion control types. Thereby the middleware relies on an open-source, robot meta-operating system and a standardized communication. Evaluation is performed within defined tasks utilizing different articulated robots, whereby performance and determinacy are quantified. An implementation sample of the method is available on: https://github.com/FAU-FAPS/adaptive_motion_control.


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    Titel :

    Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning


    Beteiligte:
    Schüppstuhl, Thorsten (Herausgeber:in) / Tracht, Kirsten (Herausgeber:in) / Raatz, Annika (Herausgeber:in) / Blank, Andreas (Autor:in) / Karlidag, Engin (Autor:in) / Zikeli, Lukas (Autor:in) / Metzner, Maximilian (Autor:in) / Franke, Jörg (Autor:in)


    Erscheinungsdatum :

    01.01.2022


    Format / Umfang :

    12 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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