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 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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