Operation modes for cooperating with autonomous functions in intelligent teleoperation systems
- 31 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 510-515vol.3
- https://doi.org/10.1109/robot.1993.292223
Abstract
Six operation modes for cooperation between manual operation and autonomous functions in intelligent teleoperation systems are proposed. The sequence of mode change is specified so that the operator can change these operation modes intuitively and smoothly. Control schemes of master-slave arms in each mode based on the bilateral control scheme are described. The validity of the proposed operation modes and the mode sequence are confirmed experimentally by using a simple one-degree-of-freedom master-slave manipulator system. It is shown that task efficiency is improved and that the burden on the operator is lightened by introducing the proposed methodKeywords
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