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.
Adaptive Motion Control Middleware for Teleoperation Based on Pose Tracking and Trajectory Planning
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021 ; Kapitel : 13 ; 153-164
01.01.2022
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Optimal pose trajectory planning for robot manipulators
Online Contents | 2002
|JBoss Middleware for Spacecraft Trajectory Operations
NTRS | 2008
|