2 research outputs found
Development of an open access system for remote operation of robotic manipulators
Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáExploring the realms of research, training, and learning in the field of robotic systems poses obstacles for institutions lacking the necessary infrastructure. The significant investment required to acquire physical robotic systems often limits access and hinders progress in these areas. While robotic simulation platforms provide a virtual environment for experimentation, the potential of remote robotic environments surpasses this by enabling users to interact with real robotic systems during training and research activities. This way, users, including students and researchers, can engage in a virtual experience that transcends geographical boundaries, connecting them to real-world robotic systems though the Internet. By bridging the gap between virtual and physical worlds, remote environments offer a more practical and immersive experience, and open up new horizons for collaborative research and training. Democratizing access to these technologies means
empower educational institutions and research centers to engage in practical and handson learning experiences. However, the implementation of remote robotic environments comes with its own set of technical challenges: communication, security, stability and access. In light of these challenges, a ROS-based system has been developed, providing open access with promising results (low delay and run-time visualization). This system enables remote control of robotic manipulators and has been successfully validated through the
remote operation of a real UR3 manipulator.Explorar as áreas de pesquisa, treinamento e aprendizado no campo de sistemas robóticos apresenta obstáculos para instituições que não possuem a infraestrutura necessária. O investimento significativo exigido para adquirir sistemas robóticos físicos muitas vezes limita o acesso e dificulta o progresso nessas áreas. Embora as plataformas de simulação robótica forneçam um ambiente virtual para experimentação, o potencial dos ambientes robóticos remotos vai além disso, permitindo que os usuários interajam com sistemas robóticos reais durante atividades de treinamento e pesquisa. Dessa forma, os usuários, incluindo estudantes e pesquisadores, podem participar de uma experiência virtual que transcende as fronteiras geográficas, conectando-os a sistemas robóticos do mundo real por meio da Internet. Ao estabelecer uma ponte entre os mundos virtual e físico, os ambientes remotos oferecem uma experiência mais prática e imersiva, abrindo novos horizontes para a pesquisa colaborativa e o treinamento. Democratizar o acesso a essas tecnologias significa capacitar instituições educacionais e centros de pesquisa a se envolverem em experiências práticas e de aprendizado prático. No entanto, a implementação de ambientes robóticos
remotos traz consigo um conjunto próprio de desafios técnicos: comunicação, segurança, estabilidade e acesso. Diante desses desafios, foi desenvolvida uma plataforma baseada em ROS, oferecendo acesso aberto com resultados promissores (baixo delay e visualização em run-time). Essa plataforma possibilita o controle remoto de manipuladores robóticos e foi validada com sucesso por meio da operação remota de um manipulador UR3 real
Remote lab of robotic manipulators through an open access ROS-based platform
The research, training, and learning in robotic
systems is a difficult task for institutions that do not have
an appropriate equipment infrastructure, mainly due to the
high investment required to acquire these systems. Possible
alternatives are the use of robotic simulation platforms and the
creation of remote robotic environments available for different
users. The use of the last option surpasses the former one in
terms of the possibility to handle real robotic systems during
the training process. However, technical challenges appear in
the management of the supporting infrastructure to use the
robotic systems, namely in terms of access, safety, security,
communication, and programming aspects. Having this in mind,
this paper presents an approach for the remote operation of real
robotic manipulators under a virtual robotics laboratory. To this
end, an open access and safe web-based platform was developed
for the remote control of robotic manipulators, being validated
through the remote control of a real UR3 manipulator. This platform
contributes to the research and training in robotic systems
among different research centers and educational institutions that
have limited access to these technologies. Furthermore, students
and researchers can use this educational tool that differs from
traditional robotic simulators through a virtual experience that
connects real manipulators worldwide through the Internet.The authors are grateful to the Foundation for Science
and Technology (FCT, Portugal) for financial support
through national funds FCT/MCTES (PIDDAC) to CeDRI
(UIDB/05757/2020 and UIDP/05757/2020), and SusTEC
(LA/P/0007/2021).info:eu-repo/semantics/publishedVersio