Enhancement of a telemanipulator design with a human arm model
Prokopiou, P. A., Harwin, W. S. and Tzafestas, S. G. (1999) Enhancement of a telemanipulator design with a human arm model. In: Tzafestas, S. G. and Schmidt, G. (eds.) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences, 243 (243). Springer, Berlin/London, pp. 445-456. ISBN 9781852331238
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To link to this article DOI: 10.1007/BFb0110528
In this chapter we described how the inclusion of a model of a human arm, combined with the measurement of its neural input and a predictor, can provide to a previously proposed teleoperator design robustness under time delay. Our trials gave clear indications of the superiority of the NPT scheme over traditional as well as the modified Yokokohji and Yoshikawa architectures. Its fundamental advantages are: the time-lead of the slave, the more efficient, and providing a more natural feeling manipulation, and the fact that incorporating an operator arm model leads to more credible stability results. Finally, its simplicity allows less likely to fail local control techniques to be employed. However, a significant advantage for the enhanced Yokokohji and Yoshikawa architecture results from the very fact that it’s a conservative modification of current designs. Under large prediction errors, it can provide robustness through directing the master and slave states to their means and, since it relies on the passivity of the mechanical part of the system, it would not confuse the operator. An experimental implementation of the techniques will provide further evidence for the performance of the proposed architectures. The employment of neural networks and fuzzy logic, which will provide an adaptive model of the human arm and robustifying control terms, is scheduled for the near future.
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