Teleoperation and Telerobotics
25.1 25.2 25.3 25.4 25.5 25.6 25.7 Introduction Hand Controllers
Control Handles • Control Input Devices • Universal Force-Reﬂecting Hand Controller (FRHC)
Antal K. Bejczy
California Institute of Technology
FRHC Control System ATOP Computer Graphics ATOP Control Experiments Anthropomorphic Telerobotics New Trends in Applications
In a general sense, teleoperator devices enable human operators to remotely perform mechanical actions usually performed by the human arm and hand.
Telerobotics is the area of robotics concerned with the control of robots from a distance,
mainly using wireless connections or the Internet. It is a combination of two major subfields,
teleoperation and telepresence. The work presented in this chapter belongs to the field of
teleoperated robots, where a remote centre sets commands to the robot and supervises the
performed motion by receiving feedback from its sensors.
The explosive growth of distributed computing has been fuelled by many factors. Applications such as video conferencing, teleoperation and most notably the World Wide Web are placing ever more demanding requirements on their underlying communication systems. Having never been designed to support such diverse communication patterns these systems are failing to provide appropriate services to individual applications. Artificial neural networks have been used in areas of communication systems including signal processing and call management (Kartalopolus, 1994)....
Mobile robots provide a motivating and interesting tool to perform laboratory experiments within the context of mechatronics, microelectronics and control. Students study this particular example in system design and integration tasks at different levels of complexity. This paper describes a set of workshops in which mobile robots were constructed in order to introduce students by hands-on experiments to mechatronic systems and control system design. This was tackled in combination with a teleoperations environment for rovers. Such...
In a general sense, teleoperator devices enable human operators to remotely perform mechanical actions usually performed by the human arm and hand. Thus, teleoperators or the activities of teleoperation extend the manipulative capabilities of the human arm and hand to remote, physically hostile, or dangerous environments. In this sense, teleoperation conquers space barriers by performing manipulative mechanical actions at remote sites, as telecommunication conquers space barriers by transmitting information to distant places....
The George E. Brown, Jr., Network for Earthquake Engineering Simulation
(NEES) is a collaboratory for integrated experimentation, computation,
theory, databases, and model-based simulation in earthquake engineering
research and education intended to improve the seismic design
and performance of the U.S. civil and mechanical infrastructure. Administered
by the National Science Foundation (NSF), NEES is mandated to
be operational by September 30, 2004.
In the manufacturing industry, however, the word robot means a
reprogrammable stationary manipulator with few, if any sensors, com-
monly found in large industrial manufacturing plants. The third common
meaning of robot is a teleoperated vehicle similar to but more sophisti-
cated than a radio controlled toy car or truck. This form of robot usually
has a microprocessor on it to aid in controlling the vehicle itself, perform
some autonomous or automatic tasks, and aid in controlling the manipu-
lator if one is onboard....