This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Open AccessArticle
Virtual Teleoperation System for Mobile Manipulator Robots Focused on Object Transport and Manipulation
by
Fernando J. Pantusin
Fernando J. Pantusin
,
Christian P. Carvajal
Christian P. Carvajal
Christian P. Carvajal was born in Ambato, Ecuador. He received a degree in Electronics and Engineer [...]
Christian P. Carvajal was born in Ambato, Ecuador. He received a degree in Electronics and Instrumentation Engineer from the University of the Armed Forces ESPE in 2015, Quito, Ecuador. He received a scholarship from the German Institute for German Academic Exchange, DAAD for his Ph.D. in Control Systems Engineering. He is currently a Ph.D. candidate on the topic of “Coordinated Control of Aerial Manipulators” at the Institute of Automatics of the National University of San Juan, Argentina. He has participated in research projects and has publications indexed in the SCOPUS database. His research interests are control systems, robotic, cooperative control and virtual reality.
Jessica S. Ortiz
Jessica S. Ortiz
Jessica S. Ortiz is a professional with a solid academic background in electronic engineering in and [...]
Jessica S. Ortiz is a professional with a solid academic background in electronic engineering in control and industrial networks. She graduated in 2013. Subsequently, she obtained a master’s
degree in Industrial Control and Automation Systems in 2016, both degrees obtained at the Escuela Superior Politécnica de Chimborazo. Recently, in 2024, she successfully completed her PhD studies in Electronic Engineering at the University of Zaragoza, Spain. Currently, she teaches full-time at the Universidad de las Fuerzas Armadas–ESPE and has shared her teaching experience in other higher-education institutions, including the Escuela Politécnica
Nacional, the Universidad Tecnológica Indoamérica and the Universidad Técnica de Ambato. She stands out for her outstanding work as director of the research project “Multiuser Immersive Technologies Oriented to Synergic Teaching–Learning Systems”, which was the winner of the XIV CEDIA-CEPRA call for proposals in 2020. As an active researcher, she has participated in
cutting-edge projects, including the “Autonomous Control of Aerial Mobile Manipulator Robots” since 2023, the project “Coordinated Multioperator Control Applied to an Aerial Manipulator Robot” in 2017, and the project “Autonomous Irrigation System Applied to Hydroponic Agriculture” in 2014. Her areas of interest include service robotics, control systems,
industrial automation, and virtual reality.
Víctor H. Andaluz
Víctor H. Andaluz
1
Departamento de Eléctrica y Electrónica, Universidad de las Fuerzas Armadas-ESPE, Sangolquí 171103, Ecuador
2
Instituto de Automática (INAUT), Universidad Nacional de San Juan-CONICET, Av. San Martín (Oeste) 1109, San Juan 5402, Argentina
3
Centro de Investigación en Ciencias Humanas y de la Educación (CICHE), Facultad de Ingenierías, Ingeniería Industrial, Universidad Tecnológica Indoamérica, Ambato 180103, Ecuador
*
Authors to whom correspondence should be addressed.
Technologies 2024, 12(9), 146; https://doi.org/10.3390/technologies12090146 (registering DOI)
Submission received: 25 July 2024
/
Revised: 24 August 2024
/
Accepted: 29 August 2024
/
Published: 31 August 2024
Abstract
This work describes the development of a tool for the teleoperation of robots. The tool is developed in a virtual environment using the Unity graphics engine. For the development of the application, a kinematic model and a dynamic model of a mobile manipulator are used. The mobile manipulator robot consists of an omnidirectional platform and an anthropomorphic robotic arm with 4 degrees of freedom (4DOF). The model is essential to emulate the movements of the robot and to facilitate the immersion in the virtual environment. In addition, the control algorithms are established and developed in MATLAB 2020 software, which improves the acquisition of knowledge to teleoperate robots and execute tasks of manipulation and transport of objects. This methodology offers a cheaper and safer alternative to real physical systems, as it reduces both the costs and risks associated with using a real robot for training.
Share and Cite
MDPI and ACS Style
Pantusin, F.J.; Carvajal, C.P.; Ortiz, J.S.; Andaluz, V.H.
Virtual Teleoperation System for Mobile Manipulator Robots Focused on Object Transport and Manipulation. Technologies 2024, 12, 146.
https://doi.org/10.3390/technologies12090146
AMA Style
Pantusin FJ, Carvajal CP, Ortiz JS, Andaluz VH.
Virtual Teleoperation System for Mobile Manipulator Robots Focused on Object Transport and Manipulation. Technologies. 2024; 12(9):146.
https://doi.org/10.3390/technologies12090146
Chicago/Turabian Style
Pantusin, Fernando J., Christian P. Carvajal, Jessica S. Ortiz, and Víctor H. Andaluz.
2024. "Virtual Teleoperation System for Mobile Manipulator Robots Focused on Object Transport and Manipulation" Technologies 12, no. 9: 146.
https://doi.org/10.3390/technologies12090146
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details
here.
Article Metrics
Article Access Statistics
For more information on the journal statistics, click
here.
Multiple requests from the same IP address are counted as one view.
