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

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

Description

Title: An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System
Author/s:
  • Tafur Sotelo, Julio César
  • Peña, C.
  • Aracil Santonja, Rafael
  • García, Cecilia
Item Type: Presentation at Congress or Conference (Article)
Event Title: 11th International Workshop on Research and Education in Mechatronics - REM 2010
Event Dates: 09/09/2010 - 10/09/2010
Event Location: Ostrava, Czech Republic
Title of Book: 11th International Workshop on Research and Education in Mechatronics - REM 2010
Date: 2010
Subjects:
Freetext Keywords: Teleoperation, Robotic, Real-Time, Embedded board, QNX
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 34978
DC Identifier: http://oa.upm.es/34978/
OAI Identifier: oai:oa.upm.es:34978
Official URL: http://mechatronika.vsb.cz/rem2010/
Deposited by: Memoria Investigacion
Deposited on: 26 Feb 2016 15:53
Last Modified: 26 Feb 2016 16:14
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