RoManSy 6 Proceedings of the Sixth CISM-IFToMM Symposium on Theory a
- PDF / 40,565,584 Bytes
- 632 Pages / 430.866 x 649.134 pts Page_size
- 22 Downloads / 134 Views
RoManSy 6 Proceedings of the Sixth CISM -IFToMM Symposium on Theory and Practice of Robots and Manipulators Edited by A. Morecki, G. Bianchi and K.
K~dzior
Sponsored hv Ihe CISM-Cenlre Inlernalional des Sciences Mecaniqlles. IFToMM-lnlernalional r;'deralion .Ii" Ihe Theon' of Mllchines and Mechllnisms. in IIssotllulIUIi rolmts
AutoliultlCll'Y
rh',..ib)c Ithop COOpt'rutive roools
N(' mAchlne
BIIHlcrtil st!rvofllHllipullll0r
\1f1chinc toul
1L-/-----2-+---t-'-----'----Ir-'--.. unlltttcrtil mtlllipulutor
toob
• tdeopertt.tor porlllbic IntH:hmes
~cr:.llldLlV
22 B. Espiau are substitution robots, and under i t cooperative robots.
TheA zone is the ideal t
where "intelligent l l teleoperators and "intelligent" robots are closer to becoming the
same thing. More precisely, as in any robotics systems, three main "metafunctions" are included in a teleoperation system:
perception, decision and action.
The main difference
comes from the fact that these functions have to be shared between man (or men) and machine(s);
further, in advanced te!eoperation, this function-sharing may vary
!.:;;O,YOMY
GE~ERALI ZED
W!ERALIZED "., INFORMJI.TlON ,., FEEDBACK
MASTER SLAVE
in time.
Figure 3 ((10)) illustrates this point in more detail.
North and South
extremes in this figure respectively represent the aims of full-machine and full-man control.
Notice that, in the first case, we need autonomy, which means:
research
of fully automatic perceptive and decision making techniques, whose efficiency would be sufficient at each control level to ensure the required "adaptivity;
while in
the second, the objective is transparency of the system, assuming that the best result would be obtained by a man directly performing the task, if it were possible. Advanced teleoperation, and its subset "computer aided teleoperation"
(CAT) lies
between the two, given that Proposition 1:
man without assistance may be unable to perform certain tasks for many obvious reasons
Proposition 2:
full autonomy is unattainable at present (and within the near future)
The aim of studies in advanced teleoperation is to examine each stage of the process and to obtain an optimal exploitation of human and machine resources at all times. The consequences of this for the executive and perceptive aspects of the system are shown on West and East parts of the
sche~e
3:
the concept of generalized master
Advanced Teleoperation 23 slave control extends the telemanipulative techniques with various functions of assistance, but physical control by man remains present.
Generalized information
feedback includes the notion of telepresence, while extending it to non-anthropomorphic sensing.
2.2 Structure of a CAT System «10»
Figure 4 shows a general description of an ideal advanced teleoperation system.
,------------ ----- -------.---
- -----_.- - - - - - - - -
"-;;--
~-----~-- ~
l0
24 B. Espiau It is immediately apparent that a supplementary dimension is added by introducing the notion of a "virtual system,"
in parallel to the actual one, wit
