Abstract
This work presents the design of a bilateral teleoperation system for a robotic arm. It proposes a new prototype communication protocol with Websockets for the communication and Json for data structuration on a cloud computing environment with OpenStack and Openshift Origin. The human operator receives visual and force feedback from the remote site, and it sends position commands to the slave. Additionally, in the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. Finally, the experimental results are reported to verify the performance of the proposed system.
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Acknowledgment
The authors would like to thanks to the Consorcio Ecuatoriano para el Desarrollo de Internet Avanzado -CEDIA-, Universidad de las Fuerzas Armadas ESPE and the Universidad Técnica de Ambato for financing the project Tele-operación bilateral cooperativo de múltiples manipuladores móviles – CEPRAIX-2015-05, for the support to develop this paper.
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Gallardo, C., Andaluz, V.H. (2016). Cloud Computing Services for Real Time Bilateral Communication, Applied to Robotic Arms. In: De Paolis, L., Mongelli, A. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2016. Lecture Notes in Computer Science(), vol 9768. Springer, Cham. https://doi.org/10.1007/978-3-319-40621-3_38
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DOI: https://doi.org/10.1007/978-3-319-40621-3_38
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