Towards Autonomous Robotic Systems - 23rd Annual Conference, TAROS 2022, Culham, UK, September 7-9, 2022, Proceedings
Towards Autonomous Robotic Systems - 23rd Annual Conference, TAROS 2022, Culham, UK, September 7-9, 2022, Proceedings
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迈向自主机器人系统 - 第 23 届年会，TAROS 2022，英国卡勒姆，2022 年 9 月 7-9 日，会议记录
DOI：
10.1007/978-3-031-15908-4_19
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Lopez Pulgarin E
中科院分区：
文献类型：
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作者：
Lopez Pulgarin E
机器人设备（诸如机器人操纵器）的远程操作是当对位置的访问受到限制时用于操作的重要功能。远程操作需要向本地侧的操作员显示相关信息，并且向远程侧发送控制命令，这仅在没有直接连接（即，有线连接）可用。新的数字表示（诸如数字双胞胎）增加了任何远程操作系统的复杂性，因为数字双胞胎倾向于依赖于虚拟现实（VR）表示，以不同的数据速率组合来自本地和远程侧的异构数据源（例如，摄像机反馈、机器人位置和控制信号）。实现了一种机器人遥操作方案，并对其进行了评估。该遥操作系统包括一个用户请求新的位置为机器人的末端执行器从远程侧，和一个逆运动学求解器与机器人控制器在本地侧。一个基于云的网络解决方案来连接机器人（即，远程侧）和操作者（即，本地端）使用Windows和Linux中可用的通用互联网连接来实现。它的功能经过测试，并与有线遥操作场景进行了比较，结果表明基于云的解决方案的平均体验和性能与有线场景相同。基于云的解决方案的所有配置脚本和数据分析脚本都可以在https：//doi.org/10.5281/zenodo.6840823上获得，用作未来开发的基准。
Teleoperation of robotic devices such as robotic manipulators is an important functionality for operation when access to a location is restricted. Teleoperation requires to both display relevant information to an operator in the local side, and to send control commands to the remote side, which only becomes more challenging when no direct connection (i.e., wired connection) is available. New digital representations such as digital twins increase the complexity of any teleoperation system, as digital twins tend to rely on virtual reality (VR) representations, combining heterogeneous data sources coming from both local and remote sides at different data rates (e.g., camera feedback, robot positions and control signals). A remote teleoperation scheme for a robotic manipulator was implemented and assessed. The teleoperation system includes a user requesting new positions for the robot’s end-effector from the remote side, and an inverse kinematics solver with the robot controller in the local side. A cloud-based networking solution to connect the robot (i.e., remote side) and the operator (i.e., local side) was implemented using a general internet connection available in Windows and Linux. Its functionality was tested and compared against a wired teleoperation scenario, showing that the average experience and performance of the cloud-based solution is the same as the wired scenario. All the configuration scripts for the cloud-based solution and the data analysis scripts are available at https://doi.org/10.5281/zenodo.6840823, to be used as a baseline for future developments.