| |
|
|
|
|
|
|
|
|
|
|
|
| |
|
|
|
[049] Citation: W.S. Kim, B. Hannaford, A. Bejczy, 'Shared Compliance Control and Time Delay in Telemanipulation,'
Preprint: Proceedings, First Intl. Symposium on Measurement and Control in Robotics, Houston TX, June 20-22, 1990.
Abstract
Shared compliance control (SCC), which allows the human operator to interact
with a compliantly controlled telerobot hand, has been implemented by a low-
pass-filtered force/torque feedback in the robot side. Unlike force reflection
or kinesthetic force feedback (KFF), SCC does not have the instability problem
casued by a long communication time delay, since force feedback is done locally
in the robot side. To evaluate SCC in comparison with KFF, peg-in-hole tasks
were performed with time delays from 2 ms to 4096 ms introduced between the
master and slave arm. The effects of the time delay were quantified
in terms ofcompletion time and sum-of-squared force with six test operators for both
SCC and KFF. The experimental results demonstrate the superiority of SCC over
KFF for time-delayed telemanipulation. Increase rates of both task completion
time and sum-of-squared force with increased time delay were much lower with SCC
than with KFF. Only SCC enabled task performance at delays about 1 second,
indicating that SCC is a promising and essential scheme for time-delayed
telemanipulation.
["I would like a hard copy of this report"]
[Copyright]
[HELP!]
Updated: Tue Aug 19 09:16:07 2008
| |
