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Article | REF: S7810 V1

Teleoperation – Principles and technologies

Authors: Philippe GARREC, Alain RIWAN, Olivier DAVID, Yvan MEASSON

Publication date: March 10, 2010

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2. Technological elements

The aim here is to provide an overview of the most representative teleoperation technologies.

2.1 Manipulator kinematics (or architecture)

Series kinematics are the most widely used in handling. It consists of a series of articulated segments (rotation or translation). Macroscopically, it corresponds to the structure of a human or animal limb. An arm is sometimes referred to as an "articulated arm" if it has only rotary axes, and as a "telescopic arm" if it has at least one linear axis. Series kinematics are the simplest to operate. In the nuclear industry, it is the only one used, as it combines a large working volume with a reduced cross-section (high slenderness), which limits the number of machines to be installed and enables the manipulator to be inserted...

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