Share control in intelligent arm/hand teleoperated system

This system is mainly composed of an industrial robot, dexterous hand (BH-3), graphic simulation and planning module, 6-DOF teleoperated mechanical arm (BH-TMA) and data glove with 5-fingered 11-DOF (BHG-3), etc. It consists of vision, force, torque, fiber, angle, and fingertip tactile sensors. In o...

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Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 3; pp. 2489 - 2494 vol.3
Main Authors Song, You, Tianmiao, Wang, Jun, Wei, Fenglei, Yang, Qixian, Zhang
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 1999
Subjects
Control systems
Data gloves
Electrical equipment industry
Force sensors
Graphics
Intelligent control
Intelligent robots
Intelligent sensors
Robot sensing systems
Service robots
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Summary:This system is mainly composed of an industrial robot, dexterous hand (BH-3), graphic simulation and planning module, 6-DOF teleoperated mechanical arm (BH-TMA) and data glove with 5-fingered 11-DOF (BHG-3), etc. It consists of vision, force, torque, fiber, angle, and fingertip tactile sensors. In order to implement some complex operations in the integrated system, we propose a task-oriented hierarchical control share model. Moreover, we also express our viewpoints about share control in the teleoperated system. Finally, the experimental and simulative results are given to show that the share control construction is highly efficiency and effective.
Bibliography:SourceType-Scholarly Journals-2
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ObjectType-Conference Paper-1
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ISBN:9780780351806
0780351800
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.770479