Share control in intelligent arm/hand teleoperated system

Author

Song, You ; Tianmiao, Wang ; Jun, Wei ; Fenglei, Yang ; Qixian, Zhang

Author_Institution

Robotics Inst., Beijing Univ. of Aeronaut. & Astronaut., China

Volume

3

fYear

1999

fDate

1999

Firstpage

2489

Abstract

This system is mainly composed of an industrial robot, dexterous hand (BH-3), graphic simulation and planning module, 6-DOF teleoperated mechanical arm (BH-TMA) and data glove with 5-fingered 11-DOF (BHG-3), etc. It consists of vision, force, torque, fiber, angle, and fingertip tactile sensors. In order to implement some complex operations in the integrated system, we propose a task-oriented hierarchical control share model. Moreover, we also express our viewpoints about share control in the teleoperated system. Finally, the experimental and simulative results are given to show that the share control construction is highly efficiency and effective

Keywords

dexterous manipulators; force sensors; industrial robots; intelligent control; multi-agent systems; robot vision; tactile sensors; telerobotics; angle sensor; arm/hand teleoperation; data glove; dexterous hand; fiber optic sensor; force sensor; graphic simulation; industrial robot; intelligent control; motion planning; multiple agent system; robot vision; share control; tactile sensor; telerobotics; torque sensor; Control systems; Data gloves; Electrical equipment industry; Force sensors; Graphics; Intelligent control; Intelligent robots; Intelligent sensors; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770479

Filename

770479