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Author: Kazuo Tani Publisher: ISBN: Category : Manipulators (Mechanism) Languages : en Pages : 82
Book Description
The aim of this project is to evaluate automatic compensation for moving targets in the supervisory control of remote manipulators. An experimental system was built which consists of a master/slave manipulator, a moving table for the moving object, and a computer controlling both the manipulator and the table. A software system was made which allows the master/slave operation with object motion compensation under computer control. The method of resolved motion rate control was adopted for the manipulator control. The computation time in this way proved practical and permitted a system sampling interval of 0.05 s. Experiments were carried out with human operators performing manipulation tasks in the master/slave operation under computer control. Their performance was compared in three situations: no object motion, compensation for the object motion, and no compensation. The comparison of the compensation and no compensation situations showed that the compensation reduced the operation time by 26 - 41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. In valve turning, however, a significant improvement was not observed. Thus, it can be concluded that the compensation for target motion can improve the performance of the human operator significantly in certain kinds of tasks. (Author).
Author: Kazuo Tani Publisher: ISBN: Category : Manipulators (Mechanism) Languages : en Pages : 82
Book Description
The aim of this project is to evaluate automatic compensation for moving targets in the supervisory control of remote manipulators. An experimental system was built which consists of a master/slave manipulator, a moving table for the moving object, and a computer controlling both the manipulator and the table. A software system was made which allows the master/slave operation with object motion compensation under computer control. The method of resolved motion rate control was adopted for the manipulator control. The computation time in this way proved practical and permitted a system sampling interval of 0.05 s. Experiments were carried out with human operators performing manipulation tasks in the master/slave operation under computer control. Their performance was compared in three situations: no object motion, compensation for the object motion, and no compensation. The comparison of the compensation and no compensation situations showed that the compensation reduced the operation time by 26 - 41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. In valve turning, however, a significant improvement was not observed. Thus, it can be concluded that the compensation for target motion can improve the performance of the human operator significantly in certain kinds of tasks. (Author).
Author: Thomas B. Sheridan Publisher: MIT Press ISBN: 9780262193160 Category : Computers Languages : en Pages : 422
Book Description
For the past three decades, the author and his colleagues in the MIT Man-Machine Systems Laboratory have been carrying out experimental research in the area of teleoperation, telerobotics, and supervisory control - a new form of technology that allows humans to work through machines in hazardous environments and control complex systems such as aircraft and nuclear power plants. This timely reference brings together a variety of theories and technologies that have emerged in a number of fields of application, describing common themes, presenting experiments and hardware embodiments as examples, and discussing the advantages and the drawbacks of this new form of human-machine interaction. There are many places - such as outer space, the oceans, and nuclear, biologically, and chemically toxic environments - that are; inaccessible or hazardous to humans but in which work needs to be done. Telerobotics - remote supervision by human operators of robotic or semi-automatic devices - is a way to enter these difficult environments. Yet it raises a host of problems, such as the retrieval of sensory information for the human operator and how to control the remote devices with sufficient dexterity. In its complete coverage of the theoretical and technological aspects of telerobotics and human-computer cooperation in the control of complex systems, this book moves beyond the simplistic notion of humans versus automation to provide the necessary background for exploring a new and informed cooperative relationship, between humans and machines.
Author: Jean Vertut Publisher: Springer Science & Business Media ISBN: 9401161038 Category : Science Languages : en Pages : 248
Book Description
It is a privilege to be asked to introduce this important work. Such a book has long been needed. Industrial manipulators and robots have caught the attention of the general public and become very fashionable in the last few years. The casual reader of current newspapers and magazit:les or the viewer of television and films might easily conclude that the development of mechanical hands, arms and legs or other mobility devices has progressed rapidly in only the last few years. Most people are unaware of the gradual orderly succession of creative designs and painstaking refinements which have been produced over a greater number of years. That story is carefully described in this volume, together with diagrams and photographs which document in detail this elegant phase in the history of machine design. This volume together with Volume 3A constitute the most complete and comprehensive work on manipulators and teleoperators. Jean Vertut and Philippe Coiffet are well known not only as authors but also as engineers who have produced some of the finest devices in the world. Of course for the complete history of manipulators and teleoperators one must look back to the artisans who crafted the delightful clock works, mechanical puppets and toys before and during the Renaissance.
Author: Kazuo Tani
Author: Kazuo Tani
Author: Thomas B. Sheridan
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Author: Jean Vertut
Author: I. Aleksander
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Author: Jean Vertut
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Author: Philippe Coiffet
Author: Clifford Swain Loucks