Development of a haptic teleoperation framework for industrial robots operating in sterile environments

Industrial automation in pharmaceutical fields presents significant challenges in ensuring the maintenance of sterile production conditions, especially in environments where human intervention is still required. Recent guidelines in the Good Manufacturing Practices (GMP) “Annex 1” for the European Union emphasize the need to minimize direct operator intervention by encouraging innovative technologies for process automation and remote control . In this context, teleoperation with haptic devices proves to be an innovative solution to improve accuracy, safety and reliability in pharmaceutical manufacturing processes by contributing to compliance with GMP regulatory standards. This thesis explores the integration of the omega.7 haptic device with the proprietary automation platform developed by Marchesini Group, with the aim of validating the effectiveness of teleoperation for controlling industrial robots in sterile and confined environments. Different mapping strategies between the haptic device and the robotic manipulator are analyzed in order to identify the most effective approach to perform manipulation operations. Algorithms capable of generating haptic force feedback are also explored to improve perception by allowing the operator to virtually sense contact forces and thus the presence of obstacles within the robot's operating space. This approach makes control more intuitive and precise than traditional control panels and optimizes execution time.