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A Bridge transported Dual arm Servo-Manipulator (BDSM) was designed to use in a hot-cell at Korea Atomic Energy Research Institute (KAERI). The slave of BDSM can handle a 25 kgf payload object in any posture. The position error resulting from gravity force produces the unnecessary force that the operator does not have to feel. Therefore, gravity force for remote tools or repair equipment must be compensated...
The communication channel delay can adversely affect performance and stability of bilateral teleoperation systems. This paper proposes a discrete-time linear quadratic Gaussian (LQG) controller that delivers a transparent stable response in the presence of constant communication latency. Different controllers are designed for each phase of operation, i.e. free motion and contact with rigid environments...
This paper describes a master-slave teleoperation system which is developed to evaluate the effectiveness of teleopresence in telerobotics applications. The operator wears a dataglove augmented with an arm-grounded force feedback device to control the dexterous hand and utilizes a spaceball to control robot arm. Contact forces measured by the finger sensors can be feedback to the operator and visual...
In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies
Traditional spacecraft structures were rigid, but there is now an increasing trend towards lighter spacecraft whose structures and appendages are flexible. It is thus more and more important to consider the interaction between the structural elements of the spacecraft and its attitude and position control systems. The field of aerospace engineering is also very interested in the study of the robotics...
This paper deals with the problem of guiding an operator during the execution of a 5 degrees of freedom surgical teleoperation task. The work is focused on the feasibility of a spine surgery telerobotic system, made up of a haptic master, a slave robot, an optical tracking device and a main control unit. With this system, the surgeon performs a drilling operation by using a telerobotic device, being...
We proposed an automated micromanipulation workcell for visually servoed teleoperated microassembly assisted by virtual reality techniques. It is composed of two micromanipulators equipped with microtools operating under a light microscope. Visual servoing techniques are applied for efficient and reliable position/force feedback during microassembly tasks. First, a pushing-based micromanipulation...
In this paper we propose an innovative robot remote control method which provides the operator with a bird's-eye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the...
The importance of investigation and construction of port facilities is to increase in the future. Mechanization of both investigation work and construction work is necessary for safer and more efficient underwater work. We are studying Towed AUVs and Amphibious Walking Robots for investigation work and Teleoperated Underwater Backhoes and Underwater Grasp Machines for construction work. Each machine...
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