HAPTIC CONTROL FOR THE TELEOPERATION OF A CLIMBING PARALLEL ROBOT

被引：0
|
作者：
Banfield, Ilka [1 ,2 ]
Pena, Cesar [1 ,3 ]
Saltaren, Roque [1 ]
Aracil, Rafael [1 ]
Moreno, Alberto [1 ]
机构：
[1] Univ Politecn Madrid, Calle Jose Gutierrez Abascal 2, E-28006 Madrid, Spain
[2] Univ Tecnol Panama, Ciudad De Panama, Panama
[3] Univ Pamplona, Pamplona, Colombia
来源：
MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES | 2010年
关键词：
D O I：
10.1142/9789814291279_0102
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a brief description of a novel climbing robot prototype, based on a parallel structure with a serial manipulators. The climbing robot is composed by two subsystems: locomotion and manipulation systems, This paper is focused on the haptic control of both systems, aiming to introduce some advances related to it. Some of the system characteristics rely on the capability of reflecting the environment interaction forces to the human operator. Finally, the obtained results showed the capabilities and the reliability of the teleoperation system, which will allow the robot to perform complex tasks/missions.
引用
收藏
页码：835 / 842
页数：8
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