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 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.

[1]  M. Nohmi,et al.  Momentum control of a tethered space robot through tether tension control , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[2]  Frans C. A. Groen,et al.  Multi-sensor robot assembly station , 1986, Robotics.

[3]  P. L. Bogler,et al.  Shafer-dempster reasoning with applications to multisensor target identification systems , 1987, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Hugh F. Durrant-Whyte,et al.  Sensor Models and Multisensor Integration , 1988, Int. J. Robotics Res..

[5]  Kazuo Machida,et al.  Precise space telerobotic system using 3-finger multisensory hand , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Mark W. Spong,et al.  Fixed-camera visual servo control for planar robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.