Title :
Combining adaptive teleoperations with force reflection
Author :
Slutski, Leonid ; Schneider, Anatoli
Author_Institution :
McGill Univ., Montreal, Que., Canada
Abstract :
Considers telerobots with variable parameters, which are intended to solve manipulation problems when fast transportation operations are combined with high-precision positioning operations. Manipulator gain is used as a parameter for the flexible control of the system characteristics that introduces an additional channel of parameter adjustment into the system. A method to synthesise control algorithms for these systems is presented. Also, this article discusses force reflection approaches for these robots. It is concluded that the most promising approach consists of information transmission to human skin receptors by means of skin displays. Some solutions in implementing this approach are described
Keywords :
adaptive control; control system synthesis; force feedback; haptic interfaces; manipulator dynamics; position control; skin; telerobotics; adaptive teleoperations; control algorithm synthesis; fast transportation operations; force reflection; high-precision positioning operations; human skin receptors; information transmission; manipulation problems; manipulator gain; parameter adjustment channel; skin displays; system characteristics flexible control; telerobots; variable parameters; Control systems; Ergonomics; Force control; Force feedback; Humans; Man machine systems; Programmable control; Reflection; Robot kinematics; Skin;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886021
