Implementation in a virtual laboratory of a teleoperated system in master slave configuration with communication based on the TCP/IP protocol
Abstract
This paper presents the development of a teleoperation system between two virtual robots, the designed robots for this system were a PHANToM OMNI device and the PUMA 560 robot. For this, the physical constraints of the robots were considered through their respective kinematic and dynamic models. A platform was made using the Simulink software to simulate the teleoperation of both robots, this allows adding delays to simulate the behavior of the systems with due to protocol comunication problems. Control tests were developed to implement a PID controller and a inverse dynamics control to adjust, with this a comparison can be made in the behavior of the system with the control of the controls of the efects of the delays of the communication network in the tracking of trajectories.
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Copyright (c) 2019 Mario Alberto Magaña Méndez, Rafael Hernández-Ríos, J. Gerardo Benítez-Morales, Omar A. Domínguez-Ramírez, Julio C. Ramos-Fernández
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