China
Africa
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Teleoperation and Telerobotics
Published in Osita D. I. Nwokah, Yildirim Hurmuzlu, The Mechanical Systems Design Handbook, 2017
We will review teleoperator system design issues and performance capabilities from the viewpoint of the operator’s hand and hand controllers through which the operator exercises manual control communication with remote manipulators. Through a hand controller, the operator can write commands to and also read information from a remote manipulator in real time. It is conceptually appropriate and illuminating to view the operator’s manual control actions as a control language and, subsequently, to consider the hand controller as a translator of that control language to machine-understandable control actions.
Stabilisation for teleoperation systems with sampled-data information feedback
Published in International Journal of Control, 2019
Xian Yang, Jing Yan, Changchun Hua, Xinping Guan
Development of network technology has enabled many kinds of devices to easily access to worldwide communication networks. Internet, an ultimately spread communication tool, is used as communication channel in control systems. Teleoperation system is one of the useful applications of network technology (Anderson & Spong, 1989; Hokayem & Spong, 2006; Islam, Liu, Saddik, & Yang, 2015; Pan, Marquez, & Chen, 2006; Polushin, Takhmar, & Patel, 2015; Rank, Shi, Müller, & Hirche, 2016; Zhang, Kruszewski, & Richard, 2014). It enables humans to move, sense, and physically manipulate objects at a distance by the exchange of position, velocity, and/or force information. Teleoperators are currently employed in a wide range of applications that include undersea exploration, robotic surgery, and handling of toxic and harmful materials. For example, in telesurgery, surgical tasks are performed by a manipulator on the patient at the remote site, which is controlled by a surgeon at the local site. The surgeon holds joystick-like handles called master manipulator. The manual commands, which are sensed by high resolution motion sensors, are transmitted to the remote manipulator (i.e. the slave manipulator). Advanced communications technology allows signal transmission between local and remote site (Daly & Wang, 2014; Polushin & Marquez, 2003; Qiu et al., 2017).