The Command of a Virtual Industrial Robot Using a Dedicated Haptic Interface (original) (raw)
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IOSR Journal of Engineering, 2012
This paper presents the overview of a robotic arm with fingers having all features like a normal human and can do all operation that the human hand can do. It has 5 fingers and normal joints as that of a human. Robotic arm is made of by using Haptic Technology. 'Haptic' is a technology that adds the sense of touch to virtual environments or mechanical models. A haptic device gives people a sense of touch with computer-generated or real environments, so that when objects are touched, they seem real and tangible. In this paper we are describing about robotic arm which is controlled by the human hand movement so that the arm can reach the target location and perform the desired task. The arm will be controlled by Potentiometers, Accelerometer Sensor and Flex Sensor. This paper describes about how sensors are used for tracking the position and movement of the robot arm. The user wears a cyber gloves which are fitted with the above tactile sensors. Usually this sensor gives analog output, if there is a change in their resistance value. This analog output is manipulated in such a way that they give proportional pulses of different duty cycles to the servo motors which give movement to the robotic arm.
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Journal of Manufacturing Systems, 2021
There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when performing the task. In particular, the proposed teleoperation uses augmented virtuality (i.e., a virtual world that includes non-modeled real-world data) and haptic feedback to provide the user an immersive virtual experience when remotely teleoperating the tool of the robot system to treat arbitrary regions of the workpiece surface. The method is illustrated with a car body surface treatment operation, although it can be easily extended to other surface treatment applications or even to other industrial tasks where the human operator may benefit from robotic assistance. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm.
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