Hostname: page-component-cb9f654ff-kl2l2 Total loading time: 0 Render date: 2025-08-19T05:09:30.211Z Has data issue: false hasContentIssue false
  • English
  • Français

Man-adaptive control of teleoperators

Published online by Cambridge University Press:  09 March 2009

Leonid Slutski  and
Philippe Coiffett
Leonid Slutski
Affiliation:
Research Fellow, Dept. of Mechanical Engineering and Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, P.O.B. 653, 84105 BEER-SHEVA (Israel)
Philippe Coiffett
Affiliation:
Director of Research at CNRS, Laboratoire de Robotique de Paris, 10-12 Avenue de l'Europe, 78140 VELIZY (France)
Get access Rights & Permissions [Opens in a new window]

Summary

To solve manipulation problems when fast transportation operations are combined with high precision positioning operations, an approach to telerobotic system organization with manipulator variable parameters is presented. It is proposed that the human operator should personally adjust the robot parameters in compliance with the situation requirements. Therefore, an additional channel of parameter control was introduced into thesystem. The approach results in the organizing of highly effective on-line systems with sufficiently simple control algorithms.

Keywords

TeleoperatorsHuman operatorVariable parametersRobot control

Information

Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 111 - 117
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Coiffet, P. and Gravez, P., “Man Robot Cooperation: towards an Advanced Teleoperation Mode”, In: Intelligent Robotic Systems (Marcel Dekker, New-York, 1991) pp. 593–636.Google Scholar
2.Coiffet, P., et J. Vertut, Teleoperation assistée par ordinateur, Coll. Les robots—tome 3b (Hermes Publishing, Paris, 1985).Google Scholar
3.Kobrinskii, A.S., Sergeev, V.I., Slutski, L.I. and Tyves, L.I., “Analysis of quality of manipulator manual control” Cours. and Lea. CISM. Int. Cent. Mech. Sci. 1, No. 201 203–212 (1974).CrossRefGoogle Scholar
4.Slutski, L.I., “On quality criteria of manipulator manual control” Mashinovedenie (Moscow) 2, 28–33 (1972) (In Russion).Google Scholar
5.Medvedev, V.S., Leskov, A.G. and Yushchenko, A.S., Control Systems of Manipulation Robots (Nauka, Moscow, 1978) (in Russian).Google Scholar
6.Melton, F., Rose, G.R. and Hedin, R.S., “Position control manipulator” USA patent # 3280991, cl. 214–1 (1971).Google Scholar
7.Kobrinskii, A.E., Statsenko, V.V. and Tyves, L.I., “Mnemonicability level evaluation of the master slave manipulator with disconcordance of the setting and executing organs” Mashinovedenie (Moscow) 2, 3–7 (1975) (in Russian).Google Scholar
8.Slutski, L., “Telerobotic systems with manipulator parameter control” Proc. Fourth Intern. Conf. on Artificial Reality and Tele-Existence(Tokyo, Japan,1994) pp. 237–253.Google Scholar
9.Djoldasbekov, U.A. and Slutski, L.I., “Manipulators with variable link lengths: kinematics and possibilities” Mechanism and Machine Theory 18, No. 4 271–274 (1983).CrossRefGoogle Scholar
10.Kolarov, K. and Roth, B., “Best estimates for the construction of robots in environments with obstacles” Proc. 1992 IEEE Intern. Conf. on Robotics and Automation(Nice, France,1992) pp. 377–382.Google Scholar
11.Saenger, E.L. and Pegden, CD., “Terminal pointer hand controller and other recent teleoperator controller concepts: technology summary and application to Earth orbital missions”, In: (Heer, Ewald, ed.) Remotely Manned Systems (California Institute of Technology, 1973) pp. 327–336.Google Scholar
12.Fiorini, P., Bejczy, A.K. and Schenker, P.S., “Integrated Interface for Advanced Teleoperation” IEEE Control Systems 13, No. 5, 15–19 (1993).Google Scholar