Title :
Unified approach for teleoperation of virtual and real environment-manipulation based on reference dynamics
Author :
Kosuge, Kazuhiro ; Takeo, Koji ; Fukuda, Toshio
Author_Institution :
Dept. of Machine Intelligence, Tohoku Univ., Sendai, Japan
Abstract :
In this paper, we design a control system so that the dynamic characteristics of the teleoperation system is specified appropriately for the task execution and the extraction of the operator´s skill. We define such dynamic characteristics as “reference dynamics“ for the task. We consider to design a control algorithm for the master arm manipulating the virtual environment so that the system has the reference dynamics. Then we consider to design a control algorithm for the teleoperation system so that the system has the reference dynamics given to the manipulator of the virtual environment. By designing the control scheme so that the master and slave arm has the same dynamic characteristics, the skill extracted from the operation of the virtual environment would be applied to the real task directly. The proposed system is applied to experimental manipulator system and experimental results illustrate the validity of the system
Keywords :
closed loop systems; control system synthesis; control systems; man-machine systems; manipulator dynamics; stability; telerobotics; virtual reality; bilateral feedback system; control system design; dynamic characteristics; master arm; operator skill; reference dynamics; slave arm; task execution; teleoperation; virtual environment; Algorithm design and analysis; Control systems; Delay effects; Force feedback; Humans; Manipulator dynamics; Master-slave; Space technology; Stability; Virtual environment;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525403
