Controlador manual para teleoperación de Controlador manual para teleoperación de robots con reflexión de fuerza robots con reflexión de fuerza

Teleoperation represents one of the oldest domains in robotics, and it has experienced a considerable growth in the last two decades. The main and understandable reasons for this tendency is the necessity of more security for the human being and in turn lower costs. In this work, the development of a local manipulator (hand-controller), of three degrees of freedom, two of force and one of torque, with force reflection in two of their axes and of torque in the remaining one, for its use in robot or mobile robot teleoperation systems, is presented. Experiments have been made, an axis per time, using as a remote device a robotic hand developed at INAUT with good results. Likewise, an impedance controller has been implanted in the remote system, which allows to carry out interaction tasks with the environment (polishing, insertion, grinding, etc.), tasks where is necessary to control and to accommodate the interaction forces and torques for not