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Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

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Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

dc.contributor.author	González Moreno, Claudia
dc.contributor.author	Solanes, Juan Ernesto
dc.contributor.author	Muñoz García, Adolfo
dc.contributor.author	Gracia Calandín, Luis
dc.contributor.author	Girbés, Vicent
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2021-05-31T13:17:02Z
dc.date.available	2021-05-31T13:17:02Z
dc.date.issued	2021
dc.identifier.uri	https://hdl.handle.net/10550/79504
dc.description.abstract	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. Moreover, a comparison of the performance obtained manually by an expert and that obtained with the proposed method has also been conducted in order to show the suitability of the proposed approach.
dc.language.iso	eng
dc.relation.ispartof	Journal of Manufacturing Systems, 2021, vol. 59, p. 283-298
dc.rights.uri	info:eu-repo/semantics/openAccess
dc.source	González Moreno, Claudia Solanes, Juan Ernesto Muñoz García, Adolfo Gracia Calandín, Luis Girbés, Vicent Tornero, Josep 2021 Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback Journal of Manufacturing Systems 59 283 298
dc.subject	Robots
dc.subject	Realitat virtual
dc.title	Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
dc.type	info:eu-repo/semantics/article
dc.date.updated	2021-05-31T13:17:04Z
dc.identifier.doi	https://doi.org/10.1016/j.jmsy.2021.02.013
dc.identifier.idgrec	146933