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This paper presents the design, implementation, and evaluation of a Low-Cost Master (LCM) device for teleoperation, utilizing a 4-DOF serial link and a gimbal-free mechanism. The proposed system offers an affordable and efficient solution for remote control applications, eliminating the complexity and cost associated with traditional gimbal-based designs. The system's ROS-based communication protocol ensures reliable and responsive interaction between the operator and the remote system. The LCM has a spherical task space of ± 23.5 cm in x, ± 23.5 cm in y, and + 32 cm and −7.10 cm in the z-axis, respectively. It has a resolution of ± 0.12 mm, ± 0.12 mm, and ± 0.3 mm in the x, y, and z-axis, respectively. Furthermore, we demonstrate the teleoperation of a simulated robot using the presented LCM, showing its utility for various teleoperation tasks.

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Design, Implementation, and Evaluation of Low-Cost Master Device for Teleoperation

  • 会议论文

  • 发表日期：

    2026年

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  • Pranali Ingole,
  • Manojkumar Srinivasan,
  • Niravkumar A. Patel

摘要

This paper presents the design, implementation, and evaluation of a Low-Cost Master (LCM) device for teleoperation, utilizing a 4-DOF serial link and a gimbal-free mechanism. The proposed system offers an affordable and efficient solution for remote control applications, eliminating the complexity and cost associated with traditional gimbal-based designs. The system's ROS-based communication protocol ensures reliable and responsive interaction between the operator and the remote system. The LCM has a spherical task space of ± 23.5 cm in x, ± 23.5 cm in y, and + 32 cm and −7.10 cm in the z-axis, respectively. It has a resolution of ± 0.12 mm, ± 0.12 mm, and ± 0.3 mm in the x, y, and z-axis, respectively. Furthermore, we demonstrate the teleoperation of a simulated robot using the presented LCM, showing its utility for various teleoperation tasks.