Development of a telepresence manipulation system

Abstract

This project is a continuation of my earlier work to develop a telepresence system for the telerobotic control of an industrial robot manipulator. The original system includes a vision feedback system for remote supervision, and a robot manipulator able to grasp objects through the implementation of a gripper, which is controlled simply by the motion of the human operator's arm. Improvements to this original system are as follows: (1) a newly designed vision feedback system with better response; (2) control of a dexterous 7-axes robot manipulator; (3) use of a haptic device to control the robot manipulator and provide force feedback concurrently; (4) development of new software incorporating real-time control. The new system can be described as having 2 major components: visual feedback and force feedback systems.