Cable-driven robot teleoperation with haptic master
Context
Research internship, Innopolis University Intelligent Robotic Systems Lab (May – Jul 2021). Supervisor: Prof. Igor Gapanov.
Problem
Teleoperate a large cable-driven parallel robot (~10×7 m workspace) with intuitive control and coordinated motor commands across multiple winches.
Approach
- Bilateral websocket communication between Touch haptic device (C++) and robot control stack
- Velocity control modes for smooth end-effector motion
- Omron PLC commanding motor drivers
- Go services for kinematics and command routing
Outcome
Operator teleoperation of the full-scale cable robot via the haptic master — integration of haptics, industrial PLCs, and non-standard manipulator kinematics.
Stack
Go · C++ · PLC · Websockets · Haptics · Motion planning