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Multi-Layered control of a bilateral haptic telemanipulation setup using collaborative UR10e robots
Citation Link: https://doi.org/10.15480/882.8513
Publikationstyp
Conference Paper not in Proceedings
Date Issued
2023-07-10
Sprache
English
TORE-DOI
Citation
IEEE World Haptics Conference (WHC 2023)
Contribution to Conference
Peer Reviewed
true
This article discusses the design of a telemanipulation system providing haptic feedback for remote sensing of textured surfaces to improve and test vibrotactile actuator design. The system includes two UR10e Collaborative robots, each with a vibrotactile end-effectors for providing accurate texture-emulation. The system is designed with multilayered control, including local supervisors for managing operation modes and data transfer, and a system-wide supervisor that is responsible for managing the behavior of the local supervisor units and the data transfer between them.
Subjects
Multi-layered control
Telemanipulation
UR10e robots
DDC Class
620: Engineering
Publication version
acceptedVersion
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Name
WHC_WIP_Telemanipulation.pdf
Size
132.41 KB
Format
Adobe PDF