Pregled bibliografske jedinice broj: 298549
Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet
Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet // Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics / Zaytoon, Janan ; Ferrier, Jean-Louis ; Cetto Andrade, Juan ; Filipe, Joaquim (ur.).
Angers: Institute for Systems and Technologies of Information, Control and Communication, 2007. str. 430-437 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 298549 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet
Autori
Petrović, Ivan ; Babić, Josip ; Budišić, Marko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics
/ Zaytoon, Janan ; Ferrier, Jean-Louis ; Cetto Andrade, Juan ; Filipe, Joaquim - Angers : Institute for Systems and Technologies of Information, Control and Communication, 2007, 430-437
ISBN
978-972-8865-82-5
Skup
International Conference on Informatics in Control, Automation and Robotics (4 ; 2007)
Mjesto i datum
Angers, Francuska, 09.05.2007. - 12.05.2007
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
teleoperation; mobile robots; force feedback
Sažetak
A teleoperation system has been developed that enables two human operators to safely control two collaborative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing developed client program on them and by using simple force feedback joysticks. On the graphical user interfaces, the operators receive images forwarded by the cameras mounted on the robots, and on the the joysticks they feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. The amount and direction of the forces they feel on their hands depend on the distance and direction to the robot’ s closest obstacle, which can also be the collaborating robot. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish collaborative tasks in complex environments.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
