Abstract
This paper proposes a semi-autonomous control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. We design a task-oriented virtual mechanism, or a task-oriented tool dynamics for a given task and separate its coordinate system into the coordinates in autonomous mode and the coordinates in manually-controlled mode. Then, we design a controller for the tele-manipulator system so that the system has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is improved by controlling the telemanipulator system so that the system behaves as a tool. By assuming the passivity of an operator, the total stability of the resultant system is guaranteed for a passive environment with unknown dynamics. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm.
| Original language | English |
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| Pages | 327-332 |
| Number of pages | 6 |
| Publication status | Published - 1994 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the 3rd IEEE International Workshop on Robot and Human Communication - Nagoya, USA Duration: 1994 Jul 18 → 1994 Jul 20 |
Other
| Other | Proceedings of the 3rd IEEE International Workshop on Robot and Human Communication |
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| City | Nagoya, USA |
| Period | 94/7/18 → 94/7/20 |
ASJC Scopus subject areas
- Hardware and Architecture
- Software