Online Telecontrol Techniques Based on Object Parameter Adjusting

Abstract

An approach to telerobotic system organization with manipulator variable parameters is developed. It is intended for solution of manipulation problems when fast transportation operations are combined with high-precision positioning operations. Based on previous research, manipulator gain was chosen as a means for system quality control. It was proposed that the human operator should personally adjust the robot parameters in compliance with situation requirements. Besides such direct parameter adjustment, another implementation of this concept based on indirect adjustment (such as by analog circuit) was also developed. An additional channel of parameter control was introduced into the system in these cases. A new hand-controller design and a method for synthesis of such system algorithms were also developed. The ground has thus been laid for the kinematic coordinate-parameter control for the main regimes of telerobot work. The described approach results in the organization of effective online systems with sufficiently simple control algorithms. By means of testing, the efficiency of these systems is shown.