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Control for teleoperation and haptic interfaces

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Control Problems in Robotics and Automation

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 230))

Abstract

The concept of teleoperation has evolved to accommodate not only manipulation at a distance but manipulation across barriers of scale and in virtual environments, with applications in many areas. Furthermore, the design of high-performance force-feedback teleoperation masters has been a significant driving force in the development of novel electromechanical or “haptic” computer-user interfaces that provide kinesthetic and tactile feedback to the computer user. Since haptic interfaces/teleoperator masters must interact with an operator and a real or virtual dynamic slave that exhibits significant dynamic uncertainty, including sometimes large and unknown delays, the control of such devices poses significant challenges. This chapter presents a survey of teleoperation control work and discusses issues of simulation and control that arise in the manipulation of virtual environments.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of British Columbia, Canada

    Septimiu E. Salcudean

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  1. Septimiu E. Salcudean
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Bruno Siciliano Kimon P. Valavanis

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© 1998 Springer-Verlag London Limited

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Salcudean, S.E. (1998). Control for teleoperation and haptic interfaces. In: Siciliano, B., Valavanis, K.P. (eds) Control Problems in Robotics and Automation. Lecture Notes in Control and Information Sciences, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0015076

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  • DOI: https://doi.org/10.1007/BFb0015076

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76220-1

  • Online ISBN: 978-3-540-40913-7

  • eBook Packages: Springer Book Archive

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