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Cooperative control of a single-user multi-robot teleoperated system for maintenance in offshore plants

Title
Cooperative control of a single-user multi-robot teleoperated system for maintenance in offshore plants
Authors
Eom, SunghoonLee, SeungyeolKim, DaejinShin, DongbinMoon, Jeon Il
DGIST Authors
Eom, Sunghoon; Lee, Seungyeol; Kim, Daejin; Shin, Dongbin; Moon, Jeon Il
Issue Date
2014
Citation
31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014, 790-794
Type
Conference
Article Type
Conference Paper
ISBN
9780646597119
Abstract
In this paper, we propose a cooperative control method of a single-user multi-robot (SUMR) teleoperated system for maintenance in offshore plants that is designed to perform in a 1:N mode (here, 1 refers to the number of user, and N denotes the number of slave robots), in which a single user teleoperates a number of slave robots directly to conduct a specific operation or in an autonomous cooperation mode between slave robots in order to overcome the limitation of the 1:1 teleoperation mode. This paper is also designed to extend compatibility in the SUMR teleoperated system's controller. A haptic device, which is one of the master device, is used for duplex transmission of control and status data between a robotic manipulator and user. In this paper, a new haptic library is also designed to connect between a haptic device (PHANToM premium, Sensable) and a controller based on LabVIEW. The designed new haptic library (DLL, dynamic linking library) that is created using C++ is called in LabVIEW, which is a GUI (graphical user interface) based software development tool.
URI
http://hdl.handle.net/20.500.11750/3790
Publisher
University of Technology Sydney
Related Researcher
Files:
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Collection:
ETC2. Conference Papers


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