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Proceedings Paper

Advanced telemanipulation under time delay
Author(s): Sukhan Lee; Hahk Sung Lee
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Paper Abstract

An advanced teleoperator control system is designed based on the paradigm of telemonitoring and Smith principle. By incorporating the model of human dynamics reacting to visual and force feedbacks into the control loop, a systematic and analytic way of obtaining an optimal teleoperator controller supporting operator's ease of control as well as of designing an optimal human/machine interface is established. The designed teleoperator control system also provides a proper coordination between human operator and manipulators under shared control through monitoring force feedback. The Smith principle is used to construct an optimal teleoperator control system under time delay, which allows not only to interpret the role of simulators in teleprogramming under time delay but also to provide an analytic result of what kind of sensory information is required and how the sensory information is fed back to the human operator. Simulation results are shown.

Paper Details

Date Published: 26 March 1993
PDF: 10 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142100
Show Author Affiliations
Sukhan Lee, Jet Propulsion Lab. and Univ. of Southern California (United States)
Hahk Sung Lee, Univ. of Southern California (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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