Hand controller for bilateral teleoperation of robots

Teleoperation, one of the oldest areas of robotics, has experienced conside rable growth in the last two decades. Main causes for this trend are the ne ed for increased safety levels for human operators and lower production cos ts. In this work, a three d.o.f. local manipulator (two d.o.f. for force an d one d.o.f. for torque) is developed. This hand controller, intended for r obot or mobile teleoperation systems, has force reflection in two axes and torque reflection in the third axis, using a robotic hand developed at INAU T as a remote device, laboratory experiments on each axis (one at a time) h ave shown good results. An impedance controller at the remote system allows one to carry out interactive tasks with the environment such as polishing, insertion and grinding, where it is necessary to control and accommodate t he interaction forces and torques in order to avoid hazards for both the ma nipulated objects and the remote robot.