System for scaled teleoperation: time-scaling problems

Hisato Kobayashi

doi:10.1117/12.142126

26 March 1993 System for scaled teleoperation: time-scaling problems

Hisato Kobayashi

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142126
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

This paper treats a basic system which realizes scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scale up or down size and force in bilateral way. But time scaling should also be considered in order to build up such ideal environment as we can feel our body size is scaled to the target size. This paper proposes several possible time scaling methods which can be used in bilateral force-position controls.

Citation Download Citation

Hisato Kobayashi "System for scaled teleoperation: time-scaling problems", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142126

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