Combining adaptive teleoperations with force reflection

摘要

Considers telerobots with variable parameters, which are intended to solve manipulation problems when fast transportation operations are combined with high-precision positioning operations. Manipulator gain is used as a parameter for the flexible control of the system characteristics that introduces an additional channel of parameter adjustment into the system. A method to synthesise control algorithms for these systems is presented. Also, this article discusses force reflection approaches for these robots. It is concluded that the most promising approach consists of information transmission to human skin receptors by means of skin displays. Some solutions in implementing this approach are described.