Publication Date:
2019-06-28
Description:
The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.
Keywords:
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Type:
In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54); p. 393-400.
Format:
text
Permalink
