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CORR
1998
Springer

A Human - machine interface for teleoperation of arm manipulators in a complex environment

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A Human - machine interface for teleoperation of arm manipulators in a complex environment
This paper discusses the feasibility of using conguration space C-space as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive mistakes in such tasks, even in a simpler two-dimensional case. Using an example of a two-dimensional arm manipulator, we show that translating the problem into C-space improves the operator performance remarkably, on the order of magnitude compared to the usual work space control.
Igor Ivanisevic, Vladimir J. Lumelsky
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 1998
Where CORR
Authors Igor Ivanisevic, Vladimir J. Lumelsky
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