RoManSy 6 pp 28-42 | Cite as

Advanced Teleoperation (I) Control and Supervision in Computer Aided Teleoperation

  • P. Gravez
  • B. Lepers
  • R. Fournier
  • G. André


In this paper is presented the architecture of a complete control system to be used in advanced teleoperation, based on two main hierarchical levels:

The first part describes the “generalized master/slave control” as a bidirectional process based both on aided effector control and on generalized force feedback. The coupling algorithms between master and slave take into account various functions: scaling of shifting in force or position, weight compensation, generation of artificial geometric constraints, sensor referenced loops, coordination with the motions of a carrier.

The second part presents an interactive “supervisory system” allowing dynamic selection of control modes which are at all times the most efficient for a given task. The previously defined elementary modes are classified as: manual, automatic coupling/recoupling, semi-automatic; these include many functions of parallel control sharing between the operator and the computer. The mode allocation is realized upon the basis of criteria developed from a general description of the task, from man-machine communications, and from external data.

The problem of off-line reconfiguration and , on-line mode activation are also considered.


Control Mode Artificial Intelligence System Mode Allocation Slave Manipulator Intermediary Stage 


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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • P. Gravez
    • 1
  • B. Lepers
    • 1
  • R. Fournier
    • 2
  • G. André
    • 3
  1. 1.CALLilleFrance
  2. 2.CEARennesFrance
  3. 3.IRISARennesFrance

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