ES2435508B2 - Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos - Google Patents

Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos Download PDF

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Publication number
ES2435508B2
ES2435508B2 ES201200653A ES201200653A ES2435508B2 ES 2435508 B2 ES2435508 B2 ES 2435508B2 ES 201200653 A ES201200653 A ES 201200653A ES 201200653 A ES201200653 A ES 201200653A ES 2435508 B2 ES2435508 B2 ES 2435508B2
Authority
ES
Spain
Prior art keywords
arm
mobile robot
motion capture
teleoperated
capture system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
ES201200653A
Other languages
English (en)
Other versions
ES2435508A2 (es
ES2435508R1 (es
Inventor
David GALBALLY HERRERO
Ángel ALEJANDRE GÓMEZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robomotion S L
ROBOMOTION SL
Original Assignee
Robomotion S L
ROBOMOTION SL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robomotion S L, ROBOMOTION SL filed Critical Robomotion S L
Priority to ES201200653A priority Critical patent/ES2435508B2/es
Publication of ES2435508A2 publication Critical patent/ES2435508A2/es
Publication of ES2435508R1 publication Critical patent/ES2435508R1/es
Application granted granted Critical
Publication of ES2435508B2 publication Critical patent/ES2435508B2/es
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos.#Consiste en un robot móvil autopropulsado (3), provisto de un brazo articulado teleoperado mediante un sistema que captura los movimientos del operador humano a través de una red de sensores inerciales (2a), (2b), (2c) y (2d) y los envía a una consola de control (4) que proyecta la posición de la mano del operador sobre el espacio de puntos alcanzables por el brazo del robot, calculando los movimientos de las articulaciones del mismo para conseguir que el extremo del brazo del robot describa una trayectoria análoga a la definida por el movimiento del brazo del operador humano. Asimismo, el sistema captura el grado de apertura de la mano del operador mediante un conjunto de sensores de flexión (2e) y reproduce dicho grado de apertura en la pinza ubicada en el extremo del brazo del robot.

Description

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Claims (1)

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ES201200653A 2012-06-19 2012-06-19 Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos Expired - Fee Related ES2435508B2 (es)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES201200653A ES2435508B2 (es) 2012-06-19 2012-06-19 Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201200653A ES2435508B2 (es) 2012-06-19 2012-06-19 Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos

Publications (3)

Publication Number Publication Date
ES2435508A2 ES2435508A2 (es) 2013-12-19
ES2435508R1 ES2435508R1 (es) 2014-01-23
ES2435508B2 true ES2435508B2 (es) 2014-10-01

Family

ID=49716460

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201200653A Expired - Fee Related ES2435508B2 (es) 2012-06-19 2012-06-19 Robot móvil con brazo teleoperado mediante sistema inercial de captura de movimientos

Country Status (1)

Country Link
ES (1) ES2435508B2 (es)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000501033A (ja) * 1995-11-30 2000-02-02 ヴァーチャル テクノロジーズ インコーポレイテッド 触覚をフィードバックする人間／機械インターフェース
JP4821516B2 (ja) * 2006-08-31 2011-11-24 旭光電機株式会社 多関節構造体
WO2009096408A1 (ja) * 2008-02-01 2009-08-06 Kyokko Electric Co, Ltd. 多関節構造体教示装置
JP5380192B2 (ja) * 2009-07-30 2014-01-08 旭光電機株式会社 汎用ロボット移動教示装置

Also Published As

Publication number Publication date
ES2435508A2 (es) 2013-12-19
ES2435508R1 (es) 2014-01-23

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