Studies to Design and Develop Improved Remote Manipulator SystemsRemote manipulator control considered is based on several levels of automatic supervision which derives manipulator commands from an analysis of sensor states and task requirements. Principle sensors are manipulator joint position, tactile, and currents. The tactile sensor states can be displayed visually in perspective or replicated in the operator's control handle of perceived by the automatic supervisor. Studies are reported on control organization, operator performance and system performance measures. Unusual hardware and software details are described. |
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actions addition allows analog analysis Appendix arm control automatic automatic control brace carried changes close command complete consists constructed contents control brace control modes control system corresponding defined delay described DETECTOR determine display DROP end effector Enter experiment external finger frequencies function gain given grasping GROPE hand human index finger indicated individual inputs instruction internal jaws joint joint angles language Level Loop manipulation master measure mechanical memory mode motion mounted move Name object operator performance performance monitor pick position possible printed PROGRAM POINTER Rancho range RELATIVE remote response Return sensing sensors sequence shown in Figure signal simple single situation slave specify station stimulators supervisory control Table tactile task teleoperator thumb tion tongs touch touch sensors tracking TRANSFER types vector viewing WAIT