Three-dimensional models of static performances

Abstract

In master-slave teleoperation¹⁰¹ a trained user can achieve excellent dexterity of the slave manipulator¹⁰² for operations involving manipulation of objects and tools, or assembly. Such operations use visual and force feedback and human abilities for training and adaptation. The operator ensures that the slave mechanism can avoid obstacles and stops, transport a heavy object using minimum force and compensate for errors in the configuration of the end effector etc. In order to perform in this way, an autonomous robot manipulator must have the same aptitude for sensing the geometrical and physical characteristics of the environment (ie internal and external sensors) as the user, and be able to evaluate its own capabilities (eg internal sensors, performance models) so as to operate safely, precisely and quickly. Performance models may be used by the robot designer and user to allow its structure and motors to be optimized and the best location and trajectories to be chosen taking into account the criteria of velocity, precision, economy of energy and other factors.