Teleoperation system of the mobile Manipulator Robot ROBUTER_ULM: Implementation issues

摘要

This paper presents both a design and implementation of a telerobotic system application for the mobile robot manipulator ROBUTER_ULM. This system allows an operator far-away of the operation site, which is not necessarily an expert, to manipulate the robot remotely so as to control the flow of information on the state of robot and its environment. That information are fashioned in a multi-sensorial fusion composed by a sending instructions and a receiving video images from a camera installed on the grip of the robot, and also from various sensors installed on this robot.