Telerobotics on the Internet James Mellington

Overview Telerobotics Project Goals Basic System Components The Original System Extension of the System User Feedback Summary

Telerobotics What is a telerobot? A remotely controlled device, designed to perform some type of positioning or mechanical manipulation under the real time direction of a human operator. A remotely controlled device, designed to perform some type of positioning or mechanical manipulation under the real time direction of a human operator. What is the motivation behind the CSSE telerobotics lab?

Project Goals Two goals; Two goals; To create a system which provides the user with the necessary feedback to move the robot to a precise location without running into objects or structures. To create a system which provides the user with the necessary feedback to move the robot to a precise location without running into objects or structures. To make the system easily transportable to other telerobots. To make the system easily transportable to other telerobots.

Basic System Components Remote Manipulator 4 axis robot 4 axis robot Interface for operator-machine interaction Operator to robot Operator to robot Robot to operator Robot to operator

The Original System Operator Control Simulation of the teach pendant Simulation of the teach pendant Robot Feedback Visual Visual

Extension of the Original System Robot feedback Vision System Vision System

Extension of the Original System (cont.)

Robot feedback (cont.) Force Sensor Force Sensor Operator control Aids for user Aids for userorientation

User Feedback Several groups were tested. Second year students Second year students Non robotic users Non robotic users

Summary Achievements. What still needs to be done? Integrating the force sensor. Integrating the force sensor. Transporting this system on to the other robots in the telerobotics lab. Transporting this system on to the other robots in the telerobotics lab.

Questions ?