Model Based Teleoperation to Eliminate Feedback Delay

基于模型的远程操作消除反馈延迟

• 批准号: 8901352
• 负责人: Richard Paul
• 金额: --
• 依托单位: University of Pennsylvania
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-11-15 至 1993-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8901352&HistoricalAwards=false
• 关键词: Model; Based; Teleoperation; Eliminate; Feedback

There is a clearly established need to perform work, remotely, in the undersea environment. Typical tasks to be performed will range from observation and inspection to servicing defective undersea equipment, or recovering a lost item. While part of the work site may be structured, the environment is unstructured (the ocean). In addition, the structured part of the work site may be damaged or in unknown condition. This lack of structure, as well as the non-repetitive nature of the tasks, require constant adaptation to the environment. This program involves research in the area of teleoperation with the feedback delay that occurs with surface-based teleoperation in untethered submersibles. The delay in obtaining position and force feedback from remote slave arms makes operation extremely difficult. A novel combination of graphics and manipulator programming will interface the teleoperator master arms to a graphics display of the remote environment. The operator's actions will be monitored to provide both kinesthetic and visual feedback and to generate symbolic motion commands to the remote slave. The research will be performed jointly and in connection with, the French LAAS Laboratory in Toulouse, France.

有一个明确确定的需要履行工作， 远程的，在海底环境中。 典型任务 将进行的范围从观察和检查， 维修有缺陷的海底设备，或恢复 遗失物品。 虽然工作现场的一部分可能是结构化的， 环境是非结构化的（海洋）。 此外该 施工现场的结构部分可能会损坏或 未知条件。 这种结构的缺乏，以及 任务的非重复性，需要不断 适应环境。 该计划涉及以下领域的研究： 具有反馈延迟的遥操作， 在无系留潜水器中的基于水面的远程操作。 在获得位置和力反馈的延迟， 远程从臂使得操作极其困难。 一 图形和机械手编程的新组合 将远程操作员的主臂连接到图形 显示远程环境。 操作员的操作 将被监测，以提供动觉和视觉 反馈，并生成符号运动命令， 远程奴隶 该研究将联合进行，并与 与法国图卢兹的法国LAAS实验室合作。