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- W2162798181 abstract "Teleoperated robots in harsh environments have a significant likelihood of failures. A common type of failure such as that of a joint locking up, when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudo-inverse and a proposed failure-tolerant inverse, were randomly presented under both non-failure and failure scenarios to a group of operators. Based on the performance measures derived from the recorded trajectory data and operator responses, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system." @default.
- W2162798181 created "2016-06-24" @default.
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- W2162798181 date "2003-01-20" @default.
- W2162798181 modified "2023-10-06" @default.
- W2162798181 title "Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study" @default.
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- W2162798181 doi "https://doi.org/10.1109/robot.1999.772400" @default.
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