Intelligent teleoperation of robotic assembly systems

Author

Li, Sicong ; Tarn, T.J. ; Xi, Ning

Author_Institution

Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA

Volume

3

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

745

Abstract

In the intelligent teleoperation system discussed in this paper, the operator and the robot cooperate with each other to improve the safety, reliability, and fault-tolerance of the operation. A Max-Plus algebra model is proposed to model both the off-line task plan and unscheduled human teleoperation. Action synchronization technology is used for integrating human operations into the robotic assembly process. The telecontrol scheme has been experimentally implemented and tested in an assembly work-cell. The results demonstrate the efficiency and advantages of the proposed scheme

Keywords

assembling; man-machine systems; reliability; safety; telerobotics; Max-Plus algebra model; action synchronization technology; assembly work-cell; fault tolerance; human operation integration; intelligent teleoperation system; off-line task plan; reliability; robotic assembly systems; safety; unscheduled human teleoperation; Assembly systems; Automatic control; Competitive intelligence; Humans; Intelligent robots; Intelligent sensors; Intelligent systems; Machine intelligence; Motion control; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.823321

Filename

823321