Abstract The concept of teleoperation has evolved to accommodate not only manipulation at a distance but manipulation across barriers of scale and in virtual environments, with applications in many areas. Furthermore, the design of high-performance force-feedback teleoperation masters has been a significant driving force in the development of novel electromechanical or “haptic” computer-user interfaces that provide kinesthetic and tactile feedback to the computer user. Since haptic interfaces/teleoperator masters must interact with an operator and a real or virtual dynamic slave that exhibits significant dynamic uncertainty, including sometimes large and unknown delays, the control of such devices poses significant challenges. This chapter presents a survey of teleoperation control work and discusses issues of simulation and control that arise in the manipulation of virtual environments.


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    Title :

    Control for teleoperation and haptic interfaces


    Contributors:


    Publication date :

    1998-01-01


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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