First experimental results of an integrated robotic system for haptic teleoperation

摘要

This paper presents a haptic teletobotic system designed to assist an operator during the execution of a multi- degrees of freedom teleoperation task. The system comprises a haptic master, a 3D visual feedback device, a slave robot, and a haptic server through which all the modules communicate. The use of the haptic server allows decoupling direct communication among all the devices involved in teleoperation and gives the possibility of introducing virtual forces at the master side ensuring a considerable enhancement of operators' performances. Experimental results from some first teleoperation tests are presented and discussed to validate the proposed telerobotic system architecture.