%0 Journal Article
	%A Gunther Reinhart and  Marwan Radi
	%D 2009
	%J International Journal of Industrial and Manufacturing Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 25, 2009
	%T Some Issues on Integrating Telepresence Technology into Industrial Robotic Assembly
	%U https://publications.waset.org/pdf/4130
	%V 25
	%X Since the 1940s, many promising telepresence
research results have been obtained. However, telepresence
technology still has not reached industrial usage. As human
intelligence is necessary for successful execution of most manual
assembly tasks, the ability of the human is hindered in some cases,
such as the assembly of heavy parts of small/medium lots or
prototypes. In such a case of manual assembly, the help of industrial
robots is mandatory. The telepresence technology can be considered
as a solution for performing assembly tasks, where the human
intelligence and haptic sense are needed to identify and minimize the
errors during an assembly process and a robot is needed to carry
heavy parts. In this paper, preliminary steps to integrate the
telepresence technology into industrial robot systems are introduced.
The system described here combines both, the human haptic sense
and the industrial robot capability to perform a manual assembly task
remotely using a force feedback joystick. Mapping between the
joystick-s Degrees of Freedom (DOF) and the robot-s ones are
introduced. Simulation and experimental results are shown and future
work is discussed.
	%P 95 - 100