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Towards virtual control of mobile manipulators

Arnaud Lelevé 1 Philippe Fraisse 1 André Crosnier 1, 2 Pierre Dauchez 1 François Pierrot 1
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper introduces the realisation of a setup platform for the study of teleoperation through Internet. The platform is a vehicle including a PUMA manipulator. The communication uses an Ethernet radio network, a PC laptop located on the vehicle and a Silicon Graphics Indigo for the base man-machine interface. This platform will permit us to study control laws to cope with variable delays.
Keywords : mobile manipulator teleoperation
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Conference papers
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https://hal.archives-ouvertes.fr/hal-00192811
Contributor : Arnaud Leleve <>
Submitted on : Friday, July 17, 2015 - 5:00:57 PM
Last modification on : Thursday, November 12, 2020 - 12:54:03 PM
Long-term archiving on: : Wednesday, April 26, 2017 - 6:41:36 AM

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  • HAL Id : hal-00192811, version 1

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IDH | CNRS | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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Arnaud Lelevé, Philippe Fraisse, André Crosnier, Pierre Dauchez, François Pierrot. Towards virtual control of mobile manipulators. WAC: World Automation Congress, May 1998, Anchorage, United States. ⟨hal-00192811⟩

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