Abstract
It is well known that classical teleoperation schemes are unstable and even useless when time delays become important. In this paper we propose a new concept called „dual hybrid teleoperation scheme” which really improves the ergonomy of a teleoperation system, even with time delays. Thanks to this concept, the operator can exert forces or perform displacements from the „master” to the „slave”. These forces are the ones that the human operator wants to apply for the current task. This is possible thanks to a special law coupling the two robots, each of them having an hybrid position-force control.
This scheme also offers kinesthetic feedback, without compromising the stability, even with time delays. So the operator can feel some useful sensations, as „moving feeling”. Besides, this scheme allows to split a complex task into subtasks, during which the operator only manages few degrees of freedom. The attention required to perform a given task is really decreased and the operator can focus on a limited set of degrees of freedom.
The experiments done with an system based on this new concept show that it can be apply even if time delay becomes superior to few seconds.
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© 1997 Springer-Verlag London Limited
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Reboulet, C., Plihon, Y., Briere, Y. (1997). Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035239
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DOI: https://doi.org/10.1007/BFb0035239
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