Title :
Intelligent teleoperation of robotic assembly systems
Author :
Li, Sicong ; Tarn, T.J. ; Xi, Ning
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
fDate :
6/21/1905 12:00:00 AM
Abstract :
In the intelligent teleoperation system discussed in this paper, the operator and the robot cooperate with each other to improve the safety, reliability, and fault-tolerance of the operation. A Max-Plus algebra model is proposed to model both the off-line task plan and unscheduled human teleoperation. Action synchronization technology is used for integrating human operations into the robotic assembly process. The telecontrol scheme has been experimentally implemented and tested in an assembly work-cell. The results demonstrate the efficiency and advantages of the proposed scheme
Keywords :
assembling; man-machine systems; reliability; safety; telerobotics; Max-Plus algebra model; action synchronization technology; assembly work-cell; fault tolerance; human operation integration; intelligent teleoperation system; off-line task plan; reliability; robotic assembly systems; safety; unscheduled human teleoperation; Assembly systems; Automatic control; Competitive intelligence; Humans; Intelligent robots; Intelligent sensors; Intelligent systems; Machine intelligence; Motion control; Robotic assembly;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.823321
