tailieunhanh - Mechanical Systems Design Handbook P25

Tham khảo tài liệu 'mechanical systems design handbook p25', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 25 Teleoperation and Telerobotics Antal K. Bejczy California Institute of Technology Introduction Hand Controllers Control Handles Control Input Devices Universal Force-Reflecting Hand Controller FRHC FRHC Control System ATOP Computer Graphics ATOP Control Experiments Anthropomorphic Telerobotics New Trends in Applications Introduction In a general sense teleoperator devices enable human operators to remotely perform mechanical actions usually performed by the human arm and hand. Thus teleoperators or the activities of teleoperation extend the manipulative capabilities of the human arm and hand to remote physically hostile or dangerous environments. In this sense teleoperation conquers space barriers by performing manipulative mechanical actions at remote sites as telecommunication conquers space barriers by transmitting information to distant places. Teleoperator systems were developed in the mid-1940s to create capabilities for handling highly radioactive material. Such systems allowed a human operator to handle radioactive material in its radioactive environment from a workroom separated by a 1-m thick radiation-absorbing concrete wall. The operator could observe the task scene through radiation resistant viewing ports in the wall. The development of teleoperators for the nuclear industry culminated in the introduction of bilateral force-reflecting master-slave manipulator systems. In these very successful systems the slave arm at the remote site is mechanically or electrically coupled to the geometrically identical or similar master arm handled by the operator and follows the motion of the master arm. The coupling between the master and slave arms is two-way inertia or work forces exerted on the slave arm can back-drive the master arm enabling the operator to feel the forces that act on the slave arm. Force information available to the operator is an essential requirement for dexterous control of remote manipulators since