Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform - Archive ouverte HAL Accéder directement au contenu
Chapitre D'ouvrage Année : 2020

Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform

Résumé

In this paper we evaluate the accuracy of a contactless 6-DoF master device for a teleoperation platform. The master device is an optical tracking system, i.e. Leap Motion, capable of recognize and track the hand movements. A method to evaluate its accuracy by using a Qualisys motion capture system composed of 8 high-resolution cameras is proposed. In addition, the teleoperation control architecture is presented, where a torque-controlled robot is employed as the slave device, i.e. a 7-DoF Franka Emika robot. The results presented in this paper allow to validate the use of the Leap Motion as an accurate master device in a teleoperation chain while also to evaluate its operational limitations.
Fichier non déposé

Dates et versions

hal-02344498 , version 1 (04-11-2019)

Identifiants

Citer

Juan Sébastian Sandoval Arevalo, Med Amine Laribi, Said Zeghloul. Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform. Advances in Service and Industrial Robotics, pp.421-429, 2020, ⟨10.1007/978-3-030-19648-6_48⟩. ⟨hal-02344498⟩
31 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More