Remote Manipulation Systems

Quality Evaluation and Improvement

Inbunden, Engelska, 1997

AvL.I. Slutski,L. I. Slutski

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Focusing on the issues of remote control of manipulators in a free workspace, this text presents recent data on remote control for telerobots. The primary emphasis is on a systematic presentation of the materials using a comparatively few, not well-publicized, examples as illustrations, a systematic presentation of materials on the quantitative evaluation of quality of remote manipulation systems with practical implementation using test stands, a presentation of the author's own descriptions of remote-control systems, and the adaptive co-ordinate-parameter control method for telerobots. The data and ideas described in the book can be useful in the remote-control field, and also in the adjacent fields of robotics and automation. To that end, the book has been designed both to be informative in its field and as source material for researchers and engineers working in these fields, as well as graduate and undergraduate students with a corresponding specialization.

Produktinformation

Utgivningsdatum1997-11-30
Mått170 x 244 x 18 mm
Vikt535 g
FormatInbunden
SpråkEngelska
SerieIntelligent Systems, Control and Automation: Science and Engineering
Antal sidor219
FörlagKluwer Academic Publishers
ISBN9780792348221

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1 Introduction.- 2 Remotely Controlled Manipulators: Use and Structure.- 2.1 Purposes and Applications of Remote Manipulators.- 2.2 Varieties of Remote Manipulators.- 2.3 Structures of Remote Manipulators.- 2.4 Conclusions.- References.- 3 Quality Analysis and Design of the Remote Manipulation Systems.- 3.1 Approaches to the Remote Control Quality Problem.- 3.2 Experimental Determination of Telecontrol Quality.- 3.3 Theoretical Approaches to Study Telerobotic Systems.- 3.4 Discussion.- References.- 4 Control Methods in the Systems “Operator — Remote Manipulator”.- 4.1 Kinds of Remote Control Methods.- 4.2 Input Devices (IDs) of Semiautomatic Control (SAC) Systems.- 4.3 On-Off Control.- 4.4 Master-Slave Control.- 4.5 Semiautomatic Control.- 4.6 Co-Ordinate Control.- 4.7 Discussion.- References.- 5 Control with Parameter Adjustment in the Remote Manipulators.- 5.1 The Experimental Basis of an Adjustment Method.- 5.2. Optimal Value Tuning of Parameters.- 5.3 General Organizational Principles of Parameter Control in Remote Manipulators.- 5.4 Discussion.- References.- 6 Adaptive Coordinate-Parameter Control (CPC) of the Remote Manipulators.- 6.1 Classification of Adaptive CPC Systems.- 6.2 Adaptive Algorithm Synthesis.- 6.3 HCs of Adaptive Systems.- 6.4 Simulation and Testing of the Adaptive Systems.- 6.5 Discussion.- References.- 7 Mechanical Means for Realization of Adaptive Control.- 7.1 Basis of Approach.- 7.2 Slave with Variable Link Lengths.- 7.3 Master with Variable Link Lengths.- 7.4 Discussion.- References.- 8 Methodologies for Analysis and Design of Telecontrol Systems.- 8.1 Introduction.- 8.2 Method Based on Adaptive HO Model.- 8.3 Method Based on the Study of Human Control Movement Structure.- 8.4 Discussion.- References.- 9 Conclusion.- Abbreviations.