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[048] Citation: B. Hannaford, W.S. Kim, 'Force Reflection, Shared Control, and Time Delay in Telemanipulation,'
Proceedings, IEEE Intl. Conference on Systems, Man, & Cybernetics, Cambridge, MA, Nov. 1989.
Abstract
Time delays of between 2 ms and 4096 ms were introduced between master and
slave manipulators in an advanced 6 dof force reflecting telemanipulation
system. The effects of the imposed delay were quantified in terms of completion
time (CT) and sum-of-squared force (SOSF) with six test operators and two modes
of control: Kinesthetic Force Feedback (KFF), and Shared Compliant Control
(SCC). KFF applies forces and torques proportional to those sensed by the
slave robot to the human operator through the master. SCC uses the force/torque
information entirely at the slave side to implement a variation on Impedance
Control in parallel with the operator's position commands. Experiments
measured effects of human operator grasp variation on stability of contact with
KFF. CT and SOSF performance in a peg-in-hole task decreased linearly with
imposed time delay using KFF and decreased at a lower rqte with SCC. SCC
enabled task performance at delays above 1 second.
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Updated: Tue Jul 15 23:54:48 2008
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