Remote Control RoboticsIncreasingly, robots are being used in environments inhospitable to humans such as the deep ocean, inside nuclear reactors, and in deep space. Such robots are controlled by remote links to human operators who may be close by or thousands of miles away. The techniques used to control these robots is the subject of this book. The author begins with a basic introduction to robot control and then considers the important problems to be overcome: delays or noisy control lines, feedback and response information, and predictive displays. Readers are assumed to have a basic understanding of robotics though this may be their first exposure to the subject of telerobotics. Professional engineers and roboticists will find this an invaluable introduction to this subject. |
Contents
IV | 1 |
V | 4 |
VII | 5 |
VIII | 6 |
IX | 9 |
X | 11 |
XI | 12 |
XII | 14 |
XLVIII | 92 |
XLIX | 93 |
L | 96 |
LI | 97 |
LIII | 100 |
LIV | 100 |
LV | 112 |
LVI | 114 |
XIII | 17 |
XIV | 19 |
XV | 22 |
XVI | 24 |
XVII | 25 |
XVIII | 27 |
XIX | 28 |
XX | 31 |
XXII | 37 |
XXIII | 40 |
XXIV | 41 |
XXV | 42 |
XXVI | 44 |
XXVII | 48 |
XXVIII | 51 |
XXIX | 53 |
XXX | 54 |
XXXI | 56 |
XXXII | 58 |
XXXIII | 59 |
XXXIV | 60 |
XXXVI | 67 |
XXXVII | 72 |
XXXVIII | 73 |
XXXIX | 74 |
XL | 75 |
XLI | 76 |
XLIII | 77 |
XLIV | 80 |
XLV | 87 |
XLVI | 88 |
XLVII | 89 |
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Common terms and phrases
allow assist the operator Automation bandwidth bolt cache Cartesian space Chapter command stream commanded action communications delay degrees of freedom desired detected diagnose display encode end-effector error occurs error recovery example execution FIGURE fixture activation float float float force clues force feedback frame rate graphical grasp gripper haptic IEEE image fragment image plane impact wrench input device integer interaction inverse kinematics JASON kinesthetic master and slave master arm master station motion commands mouse move object operator interface operator station position possible postMotions predict problem provide the operator Puma reindexing relatively remote environment remote manipulator remote robot remote site replies requires rotate sensor sequence simple slave arm slave manipulator slave robot slave station subsea surface symbolic synthetic fixtures task performance teleoperation systems teleprogramming system telerobotic tion torque limit transmitted vehicle virtual reality virtual world visual clues visual imagery workspace world model
Popular passages
Page 215 - Yoerger. A new distributed realtime control system for the JASON underwater robot.