Predictive display of virtual beam for space teleoperation

Y. Tsumaki, M. Uchiyama

    研究成果: Paper査読

    10 被引用数 (Scopus)

    抄録

    Time delay reduces significantly the ability of teleoperation. This problem becomes especially serious in case of earth-to-space teleoperation, when the time delay is large. To overcome the problem, a predictive display technique has been proposed for non-contact tasks. However, the effectiveness of this technique has not been verified sufficiently. In this paper we propose a teleoperation system with time delay, based on the predictive display of a virtual beam, as well as on the concept of optimal approach velocity. The experimental results show that a peg-in-hole task, which includes a contact task, is realized very effectively by our method in spite of the long time delay. These results have been verified from various viewpoints such as task completion time, deviation of the task completion time, contact force, command, and integration of contact force and command.

    本文言語English
    ページ1544-1549
    ページ数6
    出版ステータスPublished - 1996 12 1
    イベントProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
    継続期間: 1996 11 41996 11 8

    Other

    OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
    CityOsaka, Jpn
    Period96/11/496/11/8

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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