Experimental evaluation of teleoperation system with force-free control and visual servo control by human operator perception

  • Authors:

  • Achala Pallegedara;Yoshitaka Matsuda;Naruto Egashira;Takenao Sugi;Satoru Goto

  • Affiliations:

  • Department of Science and Advanced Technology, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Control and Information Systems Engineering, Kurume National College of Technology, Kurume, Japan 830-8555;Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Technology Fusion, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502

  • Venue:
  • Artificial Life and Robotics
  • Year:
  • 2013

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Abstract

This research considers the teleoperation of an articulated robot arm by means of force-free control and visual servo control (VSC) over communication channels using the Internet technology. A semi-autonomous type teleoperation system contains a human supervisory control and VSC schemes and switches one scheme to another for accomplishing the required task accurately. The main investigation is carried out to find how it effectively improves the accuracy and the effectiveness of the teleoperation after provision of a visual feedback channel to the system. The system accuracy, effectiveness, repeatability and handleability based on the human operator's skills and operator's cognitive aspects are evaluated using experimental results and statistical data analysis. Effectiveness of the statistical analysis is assured by increasing the number of experiment data and assuming environmental factors, and implicit variables maintain to be unchanged. Correlation coefficients are calculated to find out how controlled input parameters are related to the successful output given by the system.