Synchronized processing of tele-manipulation system

Author

Kusano, Munehisa ; Tanaka, Kazuaki ; Abe, Norihiro

Author_Institution

Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan

fYear

2001

fDate

2001

Firstpage

471

Lastpage

478

Abstract

How to construct a tele-manipulation system of a robot arm with both visual and haptic sensation is shown together with the experimental result. To move a robot arm at a slave system as an operator intends, he manipulates a force feedback device (PHANTOM) at a master system while watching a television image of the robot arm taken at the slave system. A force torque sensor (FTS: a force torque sensor and FT data: the output data of FTS) is mounted on a robot hand, and the output is conveyed to the PHANToM. This system gives a user the feeling as if he were directly operating the remote robot arm. However the following problems occur in operation. (1) The difference between the state of a robot and that indicated in a television (2) The delay caused the output of FTS to the PHANToM (3) It is difficult to synchronize the TV image with the force returned with a PHANToM. We propose two techniques to solve these problems, and show their effects in detail

Keywords

graphical user interfaces; haptic interfaces; telecontrol; telerobotics; PHANTOM; force feedback device; force torque sensor; haptic sensation; robot arm; slave system; synchronized processing; telemanipulation system; visual sensation; Delay effects; Fellows; Force feedback; Haptic interfaces; Imaging phantoms; Master-slave; Robot sensing systems; Systems engineering and theory; TV; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Virtual Systems and Multimedia, 2001. Proceedings. Seventh International Conference on

Conference_Location

Berkeley, CA

Print_ISBN

0-7695-1402-2

Type

conf

DOI

10.1109/VSMM.2001.969702

Filename

969702