By Topic

Synchronized processing of tele-manipulation system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kusano, M. ; Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan ; Tanaka, K. ; Abe, N.

How to construct a tele-manipulation system of a robot arm with both visual and haptic sensation is shown together with the experimental result. To move a robot arm at a slave system as an operator intends, he manipulates a force feedback device (PHANTOM) at a master system while watching a television image of the robot arm taken at the slave system. A force torque sensor (FTS: a force torque sensor and FT data: the output data of FTS) is mounted on a robot hand, and the output is conveyed to the PHANToM. This system gives a user the feeling as if he were directly operating the remote robot arm. However the following problems occur in operation. (1) The difference between the state of a robot and that indicated in a television (2) The delay caused the output of FTS to the PHANToM (3) It is difficult to synchronize the TV image with the force returned with a PHANToM. We propose two techniques to solve these problems, and show their effects in detail

Published in:

Virtual Systems and Multimedia, 2001. Proceedings. Seventh International Conference on

Date of Conference: