Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

International Conference on Robotics and Mechantronics

机械制造;无线电电子学;计算机科学

Niu, Longchuan^1 ; Suominen, Olli^2 ; Aref, Mohammad M.^1 ; Mattila, Jouni^1 ; Ruiz, Emilio^3 ; Esque, Salvador^3

Laboratory of Automation and Hydraulics Engineering, Tampere University of Technology, Tampere

FI-33101, Finland^1

Laboratory of Signal Processing, Tampere University of Technology, Tampere

FI-33101, Finland^2

Fusion for Energy, Barcelona, Spain^3

关键词: Advanced control schemes;    Autonomous manipulation;    Control environment;    Force/torque sensor;    International thermonuclear experimental reactor;    Real-time connections;    Stereo-vision system;    Stereoscopic camera;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/320/1/012007/pdf
DOI  :  10.1088/1757-899X/320/1/012007

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.