A force‐reflecting teleoperator system with assembly state feedback

A force‐reflecting teleoperator system with assembly state feedback The ability to appreciate the sensation of force and torque that is experienced by the slave device in a teleoperator system is essential for achieving remote manipulations such as assembly and disassembly, telesurgery, and remote handling of delicate and dangerous substances. This paper describes an intelligent teleoperator system that not only provides high quality force feedback information in teleoperation but also additional information about the contact formation between the slave device and the environment is presented to the operator. This paper also discusses the design of the teleoperator system and introduces its architecture. Experimental study using the developed teleoperator system is presented that highlights its performance in real life applications. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

A force‐reflecting teleoperator system with assembly state feedback

Assembly Automation, Volume 24 (2): 9 – Jun 1, 2004

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Publisher
Emerald Publishing
Copyright
Copyright © 2004 Emerald Group Publishing Limited. All rights reserved.
ISSN
0144-5154
DOI
10.1108/01445150410529982
Publisher site
See Article on Publisher Site

Abstract

The ability to appreciate the sensation of force and torque that is experienced by the slave device in a teleoperator system is essential for achieving remote manipulations such as assembly and disassembly, telesurgery, and remote handling of delicate and dangerous substances. This paper describes an intelligent teleoperator system that not only provides high quality force feedback information in teleoperation but also additional information about the contact formation between the slave device and the environment is presented to the operator. This paper also discusses the design of the teleoperator system and introduces its architecture. Experimental study using the developed teleoperator system is presented that highlights its performance in real life applications.

Journal

Assembly AutomationEmerald Publishing

Published: Jun 1, 2004

Keywords: Remote handling devices; Assembly; Man machine interface

References

  • Teleoperator slave – WAM design methodology
    Townsend, W.T.; Guertin, J.A.

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