Bilateral teleoperation: Towards fine manipulation with large time delay

被引：0

作者：

Yokokohji, Y ^{[1
]}

Imaida, T

Iida, Y

Doi, T

Oda, M

Yoshikawa, T

机构：

[1] Mitsubishi Heavy Ind Co Ltd, Musashino, Tokyo, Japan

[2] Kyoto Univ, Grad Sch Engn, Dept Mech Engn, Kyoto 6068501, Japan

[3] Natl Space Dev Agcy Japan, Tsukuba Space Ctr, Tsukuba, Ibaraki 3058505, Japan

来源：

EXPERIMENTAL ROBOTICS VII | 2001年 / 271卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO(TM)) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. These two results are the first step to improve the dexterity of teleoperation systems and to investigate the relationship between time delay and dexterity.

引用

页码：11 / 20

页数：10

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