Proceedings ArticleDOI
Supervisory teleoperation control using computer graphics
Jahng-Hyon Park,Thomas B. Sheridan +1 more
- pp 493-498
Reads0
Chats0
TLDR
In this article, a simulation of a six-degree-of-freedom telemanipulator is graphically simulated on an IRIS workstation with two modes: manual and supervisory control.Abstract:
A description is given of a system developed for supervisory control of a telemanipulator to deal with unique characteristics of teleoperation. A six-degree-of-freedom telemanipulator is graphically simulated on an IRIS workstation. There are two modes to control the telemanipulator: manual mode and supervisory mode. In the manual mode, the operator guides the manipulator using a 6D optical sensor ball; in the supervisory mode, the operator specifies a task using a menu and a mouse to point an object and a location. The system checks possible manipulator collisions with obstacles in the environment. If the system detects an impending collision in the supervisory mode, it uses heuristics to avoid it. The system can generate virtual obstacles that occupy space that the operator cannot observe through a camera. Virtual obstacles are updated by geometric logic operations whenever viewing conditions such as the camera position are changed. Such virtual obstacles are used for collision checking and collision avoidance. >read more
Citations
More filters
Journal ArticleDOI
Bilateral teleoperation: An historical survey
Peter Hokayem,Mark W. Spong +1 more
TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
Proceedings ArticleDOI
A Predictive Display With Force Feedback And Its Application To Remote Manipulation System With Transmission Time Delay
TL;DR: A method for virtual genera- tion of the constraining forces in the model world is proposed and a predictive display remote manipu- lation system with a force generation function is implemented.
Journal ArticleDOI
Smith Predictor Type Control Architectures for Time Delayed Teleoperation
TL;DR: The experimental results with half a second delay demonstrate significant improvement in stability and performance by the proposed neural network based predictive control architectures over traditional force-position and linear Smith predictor based control architectures.
Journal ArticleDOI
Autonomy in Physical Human-Robot Interaction: A Brief Survey
TL;DR: In this paper, the authors present the latest results achieved by the research community in the field of shared control (SC) and shared autonomy (SA) with special emphasis on physical human-robot interaction (pHRI).
Journal ArticleDOI
Experimental study on remote manipulation using virtual reality
TL;DR: An experimental extended teleexistence system using virtual reality for controlling a slave robot in poor visibility environments and a model-based calibration system using image measurements is proposed for matching the real environment and the virtual environment.
References
More filters
Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Journal ArticleDOI
Representations for Rigid Solids: Theory, Methods, and Systems
TL;DR: A coherent view, based on sound theoretical principles, of what is presently known about the representation of solids is provided by providing a simple mathematical framework for characterizing certain important aspects of representations, for example, their semantic (geometric) integrity.
Journal ArticleDOI
A simple motion-planning algorithm for general robot manipulators
TL;DR: A simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators and an implementation of the algorithm for manipulators made up of revolute joints is described.
BookDOI
Monitoring Behavior and Supervisory Control
TL;DR: In this paper, the authors present a discussion on the internal model of human response in Man-Vehicle Control Situations and evaluate the effect of cost on the Sampling Behavior of Human Instrument Monitors.
Journal ArticleDOI
Interference detection among solids and surfaces
TL;DR: This paper presents a computer representation for solids and surfaces and algorithms which carry out interference checking among objects so represented, represented as polyhedra or as piecewise planar surfaces.
Related Papers (5)
Operator interaction, for time-delayed teleoperation, with a behavior-based controller
M.R. Stein,Richard P. Paul +1 more