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

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Details

Original languageEnglish
Title of host publicationInternational Conference on Robotics and Mechantronics
Subtitle of host publication(ICRoM 2017)
PublisherIOP Publishing Ltd.
Number of pages7
Volume320
DOIs
Publication statusPublished - 2018
Publication typeA4 Article in a conference publication
EventINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS -
Duration: 1 Jan 1900 → …

Publication series

NameIOP conference series : materials science and engineering
ISSN (Print)1757-8981
ISSN (Electronic)1757-899X

Conference

ConferenceINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS
Period1/01/00 → …

Abstract

A prototype for eye-in-hand manipulation in the context of remote handling in the fusion power plant ITER is 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 The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the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.

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