Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback

There are some industrial tasks that still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used repair defects. This work develops an advanced teleoperation and control system for robots in order assist operator perform mentioned tasks. On one hand, controlled robotic provides strength accuracy, holding tool, keeping right tool orientation guaranteeing a smooth approach workpiece. other security comfort user when performing task. In particular, proposed uses augmented virtuality (i.e., virtual world includes non-modeled real-world data) haptic feedback provide immersive experience remotely teleoperating robot treat arbitrary regions workpiece surface. The method illustrated with car body operation, although it can be easily extended applications or even where may benefit from assistance. effectiveness shown several experiments using 6R arm. Moreover, comparison performance obtained expert has also been conducted show suitability approach.