Diseño de un telemanipulador háptico para un robot industrial

This work arises from the need to remotely control an industrial robot for inspection and maintenance tasks in an unexpected situation in a nuclear reactor. For these tasks, a haptic operator-computer interface was developed. To verify the design, a virtual world was generated from a simplified model of the robotic arm and the work environment. Inside it, different work areas and actions were defined. A first mechanical prototype was developed, together with its control electronics, the virtual world and the communication between them. Each part was successfully tested separately, while achieving an initial integration of the complete system.