Remote Control Robotics [Hardcover]

The author begins with a basic introduction to robot control and then considers the important problems to be overcome: delays or noisy control lines, feedback and response information, and predictive displays. Readers are assumed to have a basic understanding of robotics, though this may be their first exposure to the subject of telerobotics. Both professional engineers and roboticists will find this an invaluable introduction to this subject.Increasingly, robots are being used in environments inhospitable to humans such as the deep ocean, inside nuclear reactors, and in deep space. Such robots are controlled by remote links to human operators who may be close by or thousands of miles away. The techniques used to control these robots is the subject of this book. The author begins with a basic introduction to robot control and then considers the important problems to be overcome: delays or noisy control lines, feedback and response information, and predictive displays. Readers are assumed to have a basic understanding of robotics though this may be their first exposure to the subject of telerobotics. Professional engineers and roboticists will find this an invaluable introduction to this subject.1 Introduction.- 1.1 The fundamental tradeoff.- 1.2 Automation.- 1.3 Subsea robotics.- 1.4 Chapter overview.- 2 Basics.- 2.1 Single link robot.- 2.2 Two-link toy.- 2.3 Two-link robot.- 2.4 Forward and inverse kinematics.- 2.5 Redundancy.- 2.6 Moving out of the page.- 2.7 Input devices.- 2.7.1 Binary controls.- 2.7.2 Rate controls.- 2.7.3 Proportional controls.- 2.7.4 Computer control.- 2.8 Summary.- 3 Historical Perspective.- 3.1 Traditional bilateral teleoperation systems.- 3.1.1 The MASCOT teleoperation system.- 3.2 Giving up force feedback.- 3.2.1 The ALVIN teleoperation system.- 3.3 Other teleoperation systems.- 3.4 Operator aids.- 3.4.1 Reindexing.- 3.4.2 Maintaining a natural interface.- 3.4.3 Automatic camera control.- 3.4.4 Computer-generated imagery.- 3.4.5 Kinesthetlñ