Camera control and decoupled motion for teleoperation
نویسندگان
چکیده
0-7803-7952-7/03/$17.00 2003 IEEE. Abstract – Human judgment is an integral part of the teleoperation process that is often heavily influenced by a single video feed returned from the remote environment. This limitation on the perceptual links to the environment leaves the operator prone to cognitive mistakes and general disorientation. These faults may be enhanced or muted, depending on the camera mountings and control opportunities that are at the disposal of the operator. These issues form the basis for an experiment to assess the effectiveness of existing and potential teleoperation controls. Findings suggest that providing a camera that is controlled independently from the orientation of the vehicle may yield significant benefits.
منابع مشابه
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...
متن کاملA Haptic Teleoperation Approach Based on Contact Force Control
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the ...
متن کاملKinesthetic compensation for rotational misalignment of camers used for teleoperation
Kinesthetic feedback was shown to significantly improve the accuracy of teleoperations subject to rotational misalignments between the image source and the operator even without explicit training. Rotational misalignments are often encountered in teleoperation and telerobotics when a remote image sensor (usually a camera) is oriented so that the resulting display coordinates are rotated with re...
متن کاملQualitative Evaluation of Computer-Aided Teleopearation
Computer-aided teleoperation (CAT) is investigated for extending human eye-hand motion coordination and dexterity. A telerobotic system consisting of a master arm and a slave arm interconnected by a computer network is designed. The proposed system is evaluated using a set of experiments which are (1) operating drawers, (2) pouring of water, and (3) wirewrapping. The non deterministic behavior ...
متن کاملDesign and implementation of a new teleoperation control mode for differential drive UGVs
In this paper, we propose and implement a new control mode for teleoperated Unmanned Ground Vehicles (UGVs), that exploits the similarities between computer games and teleoperation robotics. Today, all teleoperated differential drive UGVs use a control mode called Tank Control, in which the UGV chassis and the pan tilt camera are controlled separately. This control mode was also the dominating ...
متن کامل