Abstract:This paper first introduces the composition of force sensing telepresence system and its principle, presents eight kinds of operation modes, and discusses the characteristics, selection and transformation of the operation modes. Then, the paper studies the function, error source and control method of the operator in the system. The research of the paper will be of important value for the development of force sensing telepresence technique.
1 Sato T,Hirai S.M EISTER:A Model Enhanced Intelligent and Skillful Teleoperation Robot System.Robotics Research——The Fourth International Symposium,The MIT Press,1988:155~162 2 Lumelsky V,Cheung E.Towards Safe Real-time Robot Teleoperation:Automatic Whole-sensitive A rm Collision Avoidance Frees the Operator for Global Control.In Proc,1991 IEEE International Conference on Robotics and Automation,1991:797~802 3 Hayati S,Venkataraman S T.Design and Implementation of a Robot Control System with Traded and Shared Contol Capability.In Proc,1989 IEEE International Conf on Robotics and Automation,1989:1310~1315 4 Yasuyoshi Yokokohji et al.Operation Modes for Cooperating with Autonomous Functions in Intelligent Teleoperation Systems.In Proc,1993 IEEE Intel Conf on Robotics and Automation,1993:510~515 5 Ronald G Julian.Considerations for the Operator-robot Interface in Teleoperation.In Proc,1988 IEEE Intel Conf on Robotics and Automation,1988:90~93 6 张庆,蒋洪明,周 亮.一种基于阵列式触觉传感器的主动触觉搜索方法及仿真.机器人,1994,16(2):82~86