An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System

Tafur Sotelo, Julio César; Peña, C.; Aracil Santonja, Rafael y García, Cecilia (2010). An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System. En: "11th International Workshop on Research and Education in Mechatronics - REM 2010", 09/09/2010 - 10/09/2010, Ostrava, Czech Republic. pp. 1-6.

Descripción

Título: An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System
Autor/es:
  • Tafur Sotelo, Julio César
  • Peña, C.
  • Aracil Santonja, Rafael
  • García, Cecilia
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 11th International Workshop on Research and Education in Mechatronics - REM 2010
Fechas del Evento: 09/09/2010 - 10/09/2010
Lugar del Evento: Ostrava, Czech Republic
Título del Libro: 11th International Workshop on Research and Education in Mechatronics - REM 2010
Fecha: 2010
Materias:
Palabras Clave Informales: Teleoperation, Robotic, Real-Time, Embedded board, QNX
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

The development of this work presents the implementation of an experimental platform, which will permit to investigate on a methodology for the design and analysis of a teleoperated system, considering the delay in the communication channel. The project has been developed in partnership with the laboratory of Automatic and Robotics of the Universidad Politécnica de Madrid and the Laboratory at the Centro de Tecnologías Avanzadas de Manufactura at the Pontificia Universidad Católica del Perú. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement. The experimental test of the Teleoperation system has been developed. The PC104 card commands the power interface and sensors of the DC motor of each articulation of the arm. Has developed the drives for the management of the operations of the master and the slave: send/reception of position, speed, acceleration and current data through a CAN network. The programs for the interconnection through a LAN network, between the Windows Operating System and the Real-time Operating System (QNX), has been developed. The utility of the developed platform (hardware and software) has been demonstrated.

Más información

ID de Registro: 34978
Identificador DC: http://oa.upm.es/34978/
Identificador OAI: oai:oa.upm.es:34978
URL Oficial: http://mechatronika.vsb.cz/rem2010/
Depositado por: Memoria Investigacion
Depositado el: 26 Feb 2016 15:53
Ultima Modificación: 26 Feb 2016 16:14
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