Sistema prototipo para la teleoperación de un robot scorbot ER-4u en ambientes peligrosos

Being in direct contact with dangerous substances and objects is something that police and military personnel on duty regularly experience in their daily tasks. This manuscript presents the teleoperation of a ScorBot ER-4U robot used to perform dangerous tasks in order to protect the final user. The hardware architecture consists of flexible resistive sensors, point-to-point communicators and Arduino to manage data delivery. The DLL provides an easy-to-use open access method to access the functionality of the robot from the MATLAB integrated development environment. This software includes functions for displacement of each axis formed by the robot and the gripper opening in centimeters, passing required parameters by each function and obtaining in response a sequence of desired movements. Despite being a prototype system, which is part of an ongoing investigation, its operation is validated with the respective experimental tests. © 2020, Associacao Iberica de Sistemas e Tecnologias de Informacao. All rights reserved.