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Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environments

Published online by Cambridge University Press:  14 May 2021

Sachin Kansal Open the ORCID record for Sachin Kansal [Opens in a new window] ,
Mohd Zubair ,
Bhivraj Suthar  and
Sudipto Mukherjee
Sachin Kansal*
Affiliation:
Computer Science Engineering Department, Thapar Institute of Engineering Technology, Patiala, Punjab, India
Mohd Zubair
Affiliation:
Mechatronics Engineering Department, Chungnam National University, Daejeon, South Korea
Bhivraj Suthar
Affiliation:
Mechatronics Engineering Department, Chungnam National University, Daejeon, South Korea
Sudipto Mukherjee
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Delhi, New Delhi, India
*
*Corresponding author. Email: sachinkansal87@gmail.com
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Abstract

The design and development of an upper limb exoskeleton are being discussed for the tele-operation in order to control the KUKA KR5 industrial robot. When sufficient resolution is not provided by the visual feedback, feedback of haptic provides a qualitative understanding of changes in the remote conditions. This also provides tactile feedback from the virtual and real environment. Peg in a hole operation using exoskeleton works as the master for tele-operation in order to control the robot using immersive environment as visual feedback for the operator. The application of this work can be implemented as a nuclear power generation plant.

Keywords

tele-operationremotingKUKA KR5immersive environmentKalman estimation
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 234 - 249
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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