Abstract
Teleoperation using a controller with the same kinematics as the controlled robotic agent has the potential to be more effective than using a universal joystick. With direct teleoperation, the operator is restricted by the same workspace as the controlled robot, thus making the process more intuitive. In this study we compare controllers with various kinematic configurations and degrees of freedom. The performance of the controllers is tested in sample situations where users directly teleoperate a slave manipulator model matching the real master device kinematics.
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Acknowledgements
This article has been elaborated under support of the project Research Centre of Advanced Mechatronic Systems, reg. no. CZ.02.1.01/0.0/0.0/16_019/0000867 in the frame of the Operational Program Research, Development and Education. This article was also supported by the specific research project SP2018/86 and financed by the state budget of the Czech Republic.
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Pastor, R., Vysocký, A., Novák, P. (2019). A Study on Direct Teleoperation Device Kinematics. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_12
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DOI: https://doi.org/10.1007/978-3-030-14984-0_12
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