TY - GEN
T1 - Real-Time Joystick Teleoperation of the Sawyer Robot Using a Numerical Approach
AU - Cornejo, Jair
AU - Denegri, Eddy
AU - Vasquez, Karina
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/5
Y1 - 2018/12/5
N2 - Teleoperation is an important task in robotics for remote working. Although there are approaches for teleoperating robots, most of them are closed source, proprietary, or targeted at specific platforms without a proper generalization to other robots. In this work, we present an open framework that allows a robot to be teleoperated in real time using a joystick. The joystick acts as a velocity controller that drives the robot motion in the Cartesian space using a numeric approach to solve for inverse kinematics. The advantage of the numeric approach is that it can be applied to any type of robot even if it is redundant. We experimentally tested our approach with the Sawyer robot, but the approach is generic and can be extended to any robot.
AB - Teleoperation is an important task in robotics for remote working. Although there are approaches for teleoperating robots, most of them are closed source, proprietary, or targeted at specific platforms without a proper generalization to other robots. In this work, we present an open framework that allows a robot to be teleoperated in real time using a joystick. The joystick acts as a velocity controller that drives the robot motion in the Cartesian space using a numeric approach to solve for inverse kinematics. The advantage of the numeric approach is that it can be applied to any type of robot even if it is redundant. We experimentally tested our approach with the Sawyer robot, but the approach is generic and can be extended to any robot.
UR - https://www.scopus.com/pages/publications/85060397864
U2 - 10.1109/ANDESCON.2018.8564651
DO - 10.1109/ANDESCON.2018.8564651
M3 - Conference contribution
AN - SCOPUS:85060397864
T3 - 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
BT - 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
A2 - Callejas, Jose David Cely
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE ANDESCON, ANDESCON 2018
Y2 - 22 August 2018 through 24 August 2018
ER -