Predictive force display for tele-handling/machining system

With the development of virtual reality, tele-existence and remote collaboration technologies, it has become possible for a human being to operate a machine and handle objects in worlds that are in remote locations, vastly different in scale from the human world, or in which the governing physical laws are different from those in the normal human world. To develop such a system, it is necessary to create an environment in which an operator feels as if he/she were in the world where the remote machine actually exists by transmitting a readily perceivable impression of that world. In this paper, the authors use the machining center in the remote machine site for a telehandling/machining system and propose a method of predictive force display for telemachining. Specifically, a force smoothing method and the method of identification of the working environment for predictive force display are proposed.<<ETX>>

[1]  David L. Akin,et al.  Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS), phase 2. Volume 2: Telepresence project applications , 1983 .

[2]  Blake Hannaford,et al.  Performance testing of passive communication and control in teleoperation with time delay , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Taisuke Sakaki,et al.  Impedance controlled master slave manipulation system Part II: Modification of force senation and extension of operation capability.:Modification of Force Sensation and Extension of Operation Capability , 1990 .

[4]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[5]  Shin'ichi Warisawa,et al.  Real-time machining state detection using multiaxis force sensing , 1992 .

[6]  Susumu Tachi.  Tele-Existence and Artificial Reality. , 1991 .

[7]  Won S. Kim.  Graphical operator interface for space telerobotics , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  György Kovács,et al.  Concurrent engineering: a way to design intelligent manufacturing systems , 1992 .

[9]  Y. Hatamura,et al.  Direct coupling system between nanometer world and human world , 1990, IEEE Proceedings on Micro Electro Mechanical Systems, An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots..

[10]  A. K. Bejczy.  Teleoperation: the language of the human hand , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[11]  Mamoru Mitsuishi,et al.  Development of tele-operated micro-handling/machining system based on information transformation , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[12]  David L. Akin,et al.  Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS), phase 2. Volume 1: Telepresence technology base development , 1983 .

[13]  Christopher L. Moore.  Bilateral Impedance Control For Telemanipulators , 1993 .

[14]  T. Maeda,et al.  Tele-existence simulator with artificial reality (1)- design and evaluation of a binocular visual display using solid models- , 1988, IEEE International Workshop on Intelligent Robots.

[15]  Mamoru Mitsuishi,et al.  A user-friendly manufacturing system for 'hyper-environments' , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.