Predictive and knowledge-based telerobotic control concepts

Manipulation and Control

“…The robot was controlled in several modes: teleoperated from the ISS by the astronauts using a TV monitor (i.e., E1), teleoperated from the ground (i.e., E1), or follow preprogrammed control commands given by the ground (i.e., E2). The highlight of the control was a multi-local sensory feedback allowing higher LoA for the robot, as well as the use of predictive "displays" or simulations to cope with the transmission delays of up to 7 s when using the teleoperation from the ground [84]. In a subsequent mission called ROKVISS [85], a two-joint robotic manipulator was installed outside the ISS in January 2005, which could be teleoperated from the ground via a direct communication link.…”

Invariant surface and motion estimation from sparse range data

“…The algorithm is currently in the testing stages with real data from a multi-sensor gripper housed in the arm of a small robot (see figure 1). The key feature of this small service robot is the recently developed multi-sensor gripper with a highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque sensing, nine laser range finders (one of them realized as a rotating scanner), tactile arrays, grasp-force control, and a stereo camera pair [11]. The data for our motion-estimation algorithm will be acquired from the nine laser range finders and the stereo camera pair.…”

Control of haptic interaction : an energy-based approach

“…(Sayers and Paul, 1994) and (Jun et al, 2009), • control of robotic systems in space, e.g. (Hirzinger et al, 1989), (Bejczy, 1994), (Wright et al, 2005), and , • micro manipulation, e.g. (Tanikawa and Arai, 1999) and (Szemes et al, 2001),…”

“…Hirzinger et al (1989), Prokopiou et al (1999), and Pan et al (2006). A scheme that tries to achieves delay free position and force tracking is proposed by Shahdi and Sirouspour (2009a,b,c), where the overall predictive bilateral controller is designed using H ∞ -theory.…”