Abstract
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 language | English |
|---|---|
| Pages (from-to) | 2778-2783 |
| Number of pages | 6 |
| Journal | Proceedings of the American Control Conference |
| Publication status | Published - 1990 Dec 1 |
| Event | Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: 1990 May 23 → 1990 May 25 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
Cite this
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Telefunctioning : An approach to telerobotic manipulations. / Kazerooni, H.; Tsay, James Tsing-Iuan; Moore, C. L.
In: Proceedings of the American Control Conference, 01.12.1990, p. 2778-2783.Research output: Contribution to journal › Conference article
TY - JOUR
T1 - Telefunctioning
T2 - An approach to telerobotic manipulations
AU - Kazerooni, H.
AU - Tsay, James Tsing-Iuan
AU - Moore, C. L.
PY - 1990/12/1
Y1 - 1990/12/1
N2 - 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.
AB - 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.
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M3 - Conference article
SP - 2778
EP - 2783
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
SN - 0743-1619
ER -