Proceedings PaperSystem for scaled teleoperation: time-scaling problems
|Format||Member Price||Non-Member Price|
This paper treats a basic system which realizes scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scale up or down size and force in bilateral way. But time scaling should also be considered in order to build up such ideal environment as we can feel our body size is scaled to the target size. This paper proposes several possible time scaling methods which can be used in bilateral force-position controls.