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https://www.um.edu.mt/library/oar/handle/123456789/91642| Title: | A training simulator for teleoperated robots deployed at CERN |
| Authors: | Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel |
| Keywords: | Robotics Computer communication systems Artificial intelligence Gazebos |
| Issue Date: | 2018 |
| Publisher: | SCITEPRESS – Science and Technology Publications, Lda. |
| Citation: | Saliba, C., Bugeja, M. K., Fabri, S. G., Di Castro, M., Mosca, A., & Ferre, M. (2018). A Training Simulator for Teleoperated Robots Deployed at CERN. In ICINCO (2) (pp. 293-300). |
| Abstract: | This paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. The robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. Control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. Control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. The resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. |
| URI: | https://www.um.edu.mt/library/oar/handle/123456789/91642 |
| Appears in Collections: | Scholarly Works - FacEngSCE |
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| File | Description | Size | Format | |
|---|---|---|---|---|
| A training simulator for teleoperated robots deployed at CERN.pdf Restricted Access | 812.19 kB | Adobe PDF | View/Open Request a copy |
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