Title :
Operation modes for cooperating with autonomous functions in intelligent teleoperation systems
Author :
Yokokohji, Yasuyoshi ; Ogawa, Akira ; Hasunuma, Hiroki ; Yoshikawa, Tsuneo
Author_Institution :
Dept. of Mech. Eng., Kyoto Univ., Japan
Abstract :
Six operation modes for cooperation between manual operation and autonomous functions in intelligent teleoperation systems are proposed. The sequence of mode change is specified so that the operator can change these operation modes intuitively and smoothly. Control schemes of master-slave arms in each mode based on the bilateral control scheme are described. The validity of the proposed operation modes and the mode sequence are confirmed experimentally by using a simple one-degree-of-freedom master-slave manipulator system. It is shown that task efficiency is improved and that the burden on the operator is lightened by introducing the proposed method
Keywords :
cooperative systems; intelligent control; manipulators; telecontrol; autonomous functions; bilateral control scheme; cooperation; ideal kinesthetic coupling; intelligent teleoperation systems; manual operation; master-slave arms; master-slave manipulator system; one-degree-of-freedom; operation modes; sequence of mode change; task efficiency; Arm; Control systems; Delay effects; Force control; Human factors; Intelligent systems; Manuals; Master-slave; Mechanical engineering; Robots;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292223
