Loading...
Please wait, while we are loading the content...
Similar Documents
Model based teleoperation to eliminate feedback delay nsf grant bcs89-01352- 3rd report (1993).
| Content Provider | CiteSeerX |
|---|---|
| Author | Paul, Richard P. Lindsay, Thomas Sayers, Craig Stein, Matthew Venkatesh, Desikachar |
| Abstract | BCS89-01352- 3rd Report We are conducting research in the area of teleoperation with feedback delay. Significant delays occur when performing space teleoperation from the earth as well as in subsea teleoperation where the operator is typically on a surface vessel and communication is via acoustic links. These delays make teleoperation extremely difficult and lead to very low operator productivity. We have combined computer graphics with manipulator programming to provide a solution to the delay problem. A teleoperator master arm is interfaced to a graphical simulation of the remote environment. Synthetic fixtures are used to guide the operators motions and to provide kinesthetic feedback. The operator's actions are monitored and used to generate symbolic motion commands for transmission to, and execution by, the remote slave robot. While much of a task proceeds error free, when an error does occur, the slave system transmits data back to the master environment where the operator can then experience the motion of the slave manipulator in actual task execution. We have also provided for the use of tools such as an impact wrench and a winch at the slave site. In all cases the tools are unencumbered by sensors; the slave uses a compliant instrumented wrist to monitor tool |
| File Format | |
| Publisher Date | 1993-01-01 |
| Access Restriction | Open |
| Subject Keyword | Feedback Delay Nsf Grant Bcs89-01352 Acoustic Link Synthetic Fixture Space Teleoperation Actual Task Execution Impact Wrench Graphical Simulation Teleoperator Master Arm Slave Site Symbolic Motion Command Slave Manipulator Task Proceeds Slave System Low Operator Productivity Computer Graphic Remote Slave Robot Feedback Delay Remote Environment Subsea Teleoperation Delay Problem Surface Vessel Kinesthetic Feedback Master Environment Operator Motion |
| Content Type | Text |
