Command Generation for Reducing Perceived Lag in Flexible Telerobotic Arms.

Practical Models for Practical Flexible Arms

A laboratory robot with 3m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response results for joint motion, link deflection and tip deflection. We conclude that with care the models of an arm can be effective in controller design in spite of hydraulic act...

Voice Command Generation for Teleoperated Robot Systems

In a teleoperated system, several degrees of freedom (DOF) are controlled by the operator, in which different control levels occur to carry out remote tasks. These control levels are implemented by using two kinds of commands: low level commands (LLCs), and high level commands (HLCs) [1]. LLCs are related to tasks carried out on joint robots. In this paper, an experiment comparing voice input t...

Distortion in perceived image size accompanies flash lag in depth.

The flash-lag effect -- a misperception that a flashed object appears to lag behind a moving object despite their physical alignment -- has mainly been investigated as a spatiotemporal offset. Here, we report that the flash-lag-in-depth effect is accompanied by an illusory change in the apparent size of the flashed object. We found a strong flash-lag-in-depth effect with a dot-defined square, w...

Comparison of Command Shaping Methods for Reducing Residual Vibration

This paper compares command shaping techniques for controlling residual vibration of high-performance machines. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Because input shaping has similarities to notch filtering, it is compared here with a variety of FIR and IIR filters. Several types of input shapers are pres...

Synthesis and Analysis: A Flexible Technique for Processing Command Language