A Training Simulator for Teleoperated Robots Deployed at CERN

Clare Saliba, Marvin K. Bugeja, Simon G. Fabri, Mario Di Castro, Alessandro Mosca, Manuel Ferre

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.

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Paper Citation


in Harvard Style

Saliba C., K. Bugeja M., G. Fabri S., Di Castro M., Mosca A. and Ferre M. (2018). A Training Simulator for Teleoperated Robots Deployed at CERN.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 283-290. DOI: 10.5220/0006849302830290


in Bibtex Style

@conference{icinco18,
author={Clare Saliba and Marvin K. Bugeja and Simon G. Fabri and Mario Di Castro and Alessandro Mosca and Manuel Ferre},
title={A Training Simulator for Teleoperated Robots Deployed at CERN},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={283-290},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006849302830290},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Training Simulator for Teleoperated Robots Deployed at CERN
SN - 978-989-758-321-6
AU - Saliba C.
AU - K. Bugeja M.
AU - G. Fabri S.
AU - Di Castro M.
AU - Mosca A.
AU - Ferre M.
PY - 2018
SP - 283
EP - 290
DO - 10.5220/0006849302830290