Simple low cost computer module for controlling teleoperators dependently on weight of manipulated objects

The paper is dedicated to describe the very simple and low cost computer weight module for master-slave teleoperation system. The module includes a not involved weight device and a several computer routines for the improvement of the control process of the teleoperator actuator accordingly to the weight of the manipulated objects. Often, the evaluation of the weights of the handled objects is very difficult for human operators, especially when it is possible only by sight estimation performed at a distance when the operator is totally isolated from the hazardous workspace. The weight device is based on a common computer graphics tablet. The device and the appropriate software routines have been worked out to give human operators the effective tool for limitation of maximum values of velocity and acceleration of the actuator adequately to masses of handled objects. The described module has been successfully applied and tested with the Irp6 robot for transport and manipulation of radiation containers in nuclear laboratories.