Telefunctioning: An approach to telerobotic manipulations

H. Kazerooni, T. I. Tsay, C. L. Moore

Research output: Contribution to journalConference articlepeer-review

11 Citations (Scopus)


This study introduces three concepts: telefunctioning, a control method for achieving telefunctioning, and an approach to the analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer's choice and depend on the application. In a subclass of telefunctioning called telepresence, all of the relationships between the master and the slave are specified as unity so that all of the master and slave variables (e.g., position and velocity) are dynamically equal. To create telefunctioning, a minimum number of functions relating the robots' variables is identified. A control architecture which guarantees that the defined functions govern the dynamic behavior of the system is then developed. The stability of the closed-loop system (master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived.

Original languageEnglish
Pages (from-to)2778-2783
Number of pages6
JournalProceedings of the American Control Conference
Publication statusPublished - 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: 1990 May 231990 May 25

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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