Telefunctioning: An approach to telerobotic manipulations

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

研究成果: Conference article同行評審

11 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)2778-2783
頁數6
期刊Proceedings of the American Control Conference
DOIs
出版狀態Published - 1990
事件Proceedings of the 1990 American Control Conference - San Diego, CA, USA
持續時間: 1990 5月 231990 5月 25

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程

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