Combining adaptive teleoperations with force reflection

Author

Slutski, Leonid ; Schneider, Anatoli

Author_Institution

McGill Univ., Montreal, Que., Canada

Volume

2

fYear

2000

fDate

2000

Firstpage

1231

Abstract

Considers telerobots with variable parameters, which are intended to solve manipulation problems when fast transportation operations are combined with high-precision positioning operations. Manipulator gain is used as a parameter for the flexible control of the system characteristics that introduces an additional channel of parameter adjustment into the system. A method to synthesise control algorithms for these systems is presented. Also, this article discusses force reflection approaches for these robots. It is concluded that the most promising approach consists of information transmission to human skin receptors by means of skin displays. Some solutions in implementing this approach are described

Keywords

adaptive control; control system synthesis; force feedback; haptic interfaces; manipulator dynamics; position control; skin; telerobotics; adaptive teleoperations; control algorithm synthesis; fast transportation operations; force reflection; high-precision positioning operations; human skin receptors; information transmission; manipulation problems; manipulator gain; parameter adjustment channel; skin displays; system characteristics flexible control; telerobots; variable parameters; Control systems; Ergonomics; Force control; Force feedback; Humans; Man machine systems; Programmable control; Reflection; Robot kinematics; Skin;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886021

Filename

886021