Remote Site Control
Remote Server
At the Remote Site, a server provides a data link to control robotic arm. Information from the Control Site is received by the server and communicated to the robotic arm as movement and rotation commands. Moreover, information from the robotic arm regarding collisions and over-extension of joints are transmitted back to the Control Site via the server. In addition, a visual stream is captured by a webcam connected to the server and sent back for the operator at the Control Site to view. |
Robotic Arm
While the picture on the left shows a CRS A255, our solution is integratable to robotic arms of various degrees of freedom (DOFs). Our interfacing solution controls the arm’s end effector by commanding it to follow the position of the operator’s hand. When the end effector allows it (available DOFs at end effector), our solution communicates pitch, roll, and yaw information from the IMU on the operator's wrist to control the rotation of the end effector. Moreover, the gripping force is set naturally by the operator through the worn custom glove. |