(Georgia Institute of Technology, 1996-06)
Lane, Hobson; Love, Lonnie J.; Magee, David P.; Obergfell, Klaus; Book, Wayne J.
During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through the Internet. This paper describes the testbed and addresses the methods, limitations, and capabilities of remote operations.
(Georgia Institute of Technology, 1994-10)
Love, Lonnie J.; Magee, David P.; Book, Wayne J.
This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the performance of a teleoperation schemes that uses long reach, flexible manipulators. This study investigates the influence of PD, PD with input shaping, and PD with modified command filtering on pick and place teleoperation tasks. Data from 90 trials using 6 operators is used in an attempt to identify any increase in performance resulting from the use of any of the above control schemes. The results of this investigation indicate an increase in performance, based upon a combination of interaction forces and task execution time, of teleoperated pick and place tasks when a flexible robot uses either PD with input shaping or PD with modified command filtering.