Paper Info
Title
Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics
Abstract
We propose an alternative control algorithm for a scaled telemanipulation system using the task-oriented virtual tool dynamics. The aim of the proposed virtual tool approach is to realize the ideal relationship for the human-oriented collaboration between a human operator and a controlled robot in a human-robot environment system. In the proposed cooperative system, a telemanipulator is controlled so that it has semi-autonomous virtual tool dynamics designed appropriately for a given task. It assists a human operator semi-autonomously during the task as if it were a real mechanical tool and improves the maneuverability and the efficiency in the teleoperation. The stability is analyzed based on the passivity of the resultant system, and the total stability is guaranteed for a human operator and a passive environment with unknown dynamics. The algorithm is experimentally applied to a telemanipulator. The results illustrate the validity of the system
Year
DOI
Venue
2000
10.1109/70.880801
Robotics and Automation, IEEE Transactions
Keywords
Field
DocType
cooperative systems,man-machine systems,manipulator dynamics,stability,telerobotics,virtual reality,cooperative system,dynamics,force scaling,human-machine systems,motion scaling,stability,task oriented control,telemanipulation,teleoperation,telerobotics,virtual reality
Teleoperation,Passivity,Human–machine system,Virtual reality,Control theory,Simulation,Control engineering,Robot,Telerobotics,Scaling,Mathematics,Remote manipulator
Journal
Volume
Issue
ISSN
16
5
1042-296X
Citations 
PageRank 
References 
25
2.38
8
Authors
3
Name
Order
Citations
PageRank
Tomotaka Itoh1639.38
Kazuhiro Kosuge21405332.36
Toshio Fukuda32723818.58