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[055] Citation: W.S. Kim, B. Hannaford, A.K. Bejczy, 'Force-Reflection and Shared Compliant Control in Operating Telemanipulators with Time Delay,'
IEEE Transactions on Robotics & Automation, vol. 8, pp. 176-185, 1992.
Abstract
Shared compliant control has been incorporated into an advamced six-degree-of-
freedom (6-DOF) force-reflecting telemanipulation system. With this system we
have investigated the effect of time delay on human telemanipulation task
performance. Time delays of between 2 and 4096 ms were introduced between master
and slave arms, and high-precision peg-in-hole tasks were performed by six test
operators with two modes of control: kinesthetic force feedback (KFF), and
shared compliant control (SCC). Task performance was quantified in terms of the
completion time (CT) and the sum of square forces (SOSF). In KFF, the operator
feels forces and torques proportional to those sensed by the telerobot through
the force-reflecting hand controller. Due to the instability problem, force
reflection cannot be used at time delays above 0.5 to 1 s. By contrast, the
force feedback loop in SCC resides entirely in the robot side, and the
communication delay does not cause any stability problem. SCC enables the
operator to control the telemanipulator having a compliant hand, which softens
contact forces between the robot hand and objects. The experimental results
demonstrate the superiority of SCC over KFF for time-delays telemanipulation.
SCC has significantly lower rates of increase then KFF in both CT and SOSF with
time delay. Only SCC enabled task performance at delays above 1 s, indicating
that SCC is a promising and essential scheme for time-delayed manipulation.
Constant force maintenance tasks were also performed to investigate the effect
of time delay on the stability of force reflection. SCC also has beneficial
effects on telemanipulation without time delay.
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Updated: Tue Jul 15 23:54:48 2008
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