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Authors: Clare Saliba 1 ; Marvin K. Bugeja 1 ; Simon G. Fabri 1 ; Mario Di Castro 2 ; Alessandro Mosca 2 and Manuel Ferre 3

Affiliations: 1 Department of Systems & Control Engineering, University of Malta, Msida and Malta ; 2 Engineering Department EN-STI, CERN, Geneva and Switzerland ; 3 Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid and Spain

Keyword(s): Teleoperated Robot, Telemax, EOD Robots, ROS, Gazebo, Modelling and Simulation, Robot Control, Virtual Environment.

Related Ontology Subjects/Areas/Topics: Industrial Engineering ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Systems Modeling and Simulation ; Telerobotics and Teleoperation ; Virtual Environment, Virtual and Augmented Reality

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 283-290. DOI: 10.5220/0006849302830290

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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