ATJTONOhLIOUS CONTROL ISSUES IN A TELEROBOT
نویسنده
چکیده
Bejczy distinguishes two basic approaches to the effect of combining autonomous and teleoperated control ? J In traded mode. the control may switch from fully autonomous control to full teleoperation In shared mode. certain degrees of freedom arp allocated to the autonomous controller and the others to the teleoperated control The concept of supervisory control, as exemplified by the work of Sheridan,lz also poses challenges in terms of the design of a cooperatlng autonomous control system Supervisory control entails having a human operator specifying general instructions to a partially autonomous control system that is capable of producing an integrated summary displav of the results from which the choice of the next instructions can be based
منابع مشابه
Sensorsimulation-based Interactive Telerobot Control System
This paper describes the control architecture, the main issues, and the features of the Teleoperationsystem TELOS, as well as the main future research areas. The TELOS Teleoperationsystem allows human supervisory of remote teleoperators even in a time delayed environment. The operation concept defines two main phases. The first phase is either an automatic or operator driven "preparation" phase...
متن کاملOperation Modes and Control Schemes for a Telerobot with Time Delay
Telerobot system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control...
متن کاملHuman Hand Trajectory Analysis in Point-and-Direct Telerobotics
Human hand trajectories have been recorded and analyzed in an experimental supervisory control interface for a telerobot manipulator. Using a six degree-of-freedom tracking device to control the gripper of a computer graphics simulation model of the telerobot, human operators were instructed to command the telerobot under a variety of visual conditions. Analysis of the human hand trajectories s...
متن کاملDesign of an Augmented Reality User Interface for an Internet based Telerobot using Multiple Monoscopic Views
This thesis describes the development of Usher, an Augmented Reality user interface for an Internet telerobot. Its construction principle is to overlay multiple monoscopic images of the robot’s environment with a three-dimensional stick figure visualization of the robot’s 5 degrees of freedom. The operator manipulates the elements of this visualization with a pointing device to control the robo...
متن کاملHaptic Control of the Master Hand Controller for a Microsurgical Telerobot System
A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-dof parallel micromanipulator attached to the macro-motion industrial robot, and a 6-dof force-reflecting haptic master device. The master device is using five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-dof master hand co...
متن کامل