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

fYear

1993

fDate

2-6 May 1993

Firstpage

510

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292223

Filename

292223