Improving Teleoperation
نویسندگان
چکیده
We consider teleoperation in which a slave manipulator, seen in one or more video images, is controlled by moving a master manipulandum. The operator must mentally transform (i.e. rotate, translate, scale, and/or deform) the desired motion of the slave image to determine the required motion at the master. Our goal is to make these mental transformations less taxing in order to decrease operator training time, improve task time/performance, and expand the pool of candidate operators. In this paper, we introduce a framework for describing the transformations required to use a particular teleoperation setup. We analyze in detail the mental transformations required in an interface consisting of one camera and display. We then expand our discussion to setups with multiple cameras/displays and discuss the results from an initial experiment.
منابع مشابه
Improving Efficiency of Internet Based Teleoperation using Network QoS
This paper presents a QoS based eficiency improving scheme for Intemet-based teleoperation. One of the widely used QoSparameters for showing network status . is network delay. With the help of event-based control technique, the stability of the teleoperation systems is . guaranteed under random network delay. This paper ' imiestigates how to improve the eficiency of teleoperated tasks based on ...
متن کاملSemi-automatic Teleoperation for D&D
For deactivation and decommissioning (D&D) of contaminated structures in the weapons complex, remotely operated robotic systems are expected to replace human workers from hazardous radiation and difficult work environments, while improving productivity and reducing costs. Nevertheless, the major drawback of currently available remote operation technology is that teleoperation is a slow and impr...
متن کاملA User Study of a Mobile Robot Teleoperation
In this paper several interfaces for teleoperation of a mobile robot are described and analyzed. We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a haptic master device. Described human-robot teleoperation interfaces were tested by performing experiments. Main objective was to verify the role of different types of feedback information...
متن کاملSensory subtraction via cutaneous feedback: a novel technique to improve the transparency of robotic surgery
In this paper we present a novel technique to force feedback in robot-assisted surgery. It consists of substituting haptic force, composed by kinesthetic and cutaneous components, with cutaneous stimuli only. The force generated can be thus thought as a subtraction between the complete haptic interaction, cutaneous and kinesthetic, and the kinesthetic part of it. For this reason, we refer to th...
متن کاملBilateral Teleoperation Systems Using Backtracking Search optimization Algorithm Based Iterative Learning Control
This paper deals with the application of Iterative Learning Control (ILC) to further improve the performance of teleoperation systems based on Smith predictor. The goal is to achieve robust stability and optimal transparency for these systems. The proposed control structure make the slave manipulator follow the master in spite of uncertainties in time delay in communication channel and model pa...
متن کامل