Control structures in sensor-based telerobotic systems

Abstract

The most relevant concepts in telerobotics, mainly seen from the viewpoint of control structures are outlined. Pure positional master-slave systems are compared with bilateral force-reflecting systems and systems that provide local autonomy e.g. via active compliance. The problem of delay-compensation using predictive computer graphics is outlined. A space robot technology experiment that contains many of the ideas presented is briefly discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>