Title :
Control structures in sensor-based telerobotic systems
Author :
Hirzinger, G. ; Heindl, J. ; Landzettel, K.
Abstract :
The most relevant concepts in telerobotics, mainly seen from the viewpoint of control structures are outlined. Pure positional master-slave systems are compared with bilateral force-reflecting systems and systems that provide local autonomy e.g. via active compliance. The problem of delay-compensation using predictive computer graphics is outlined. A space robot technology experiment that contains many of the ideas presented is briefly discussed.<>
Keywords :
aerospace control; compensation; computer graphics; control system analysis computing; delays; robots; telecontrol; aerospace control; bilateral force-reflecting systems; control structures; delay-compensation; positional master-slave systems; predictive computer graphics; sensor-based telerobotic systems; space robot; telecontrol; Control systems; Force control; Humans; Intelligent robots; Master-slave; Orbital robotics; Robot sensing systems; Space technology; Teleoperators; Telerobotics;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240641
