Sticky and slippery collision avoidance for tele-excavation

被引：0
|
作者：
Greenspan, M [1 ]
Ballantyne, J [1 ]
Lipset, M [1 ]
机构：
[1] Natl Res Council Canada, Ottawa, ON, Canada
来源：
IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 | 1996年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Two new modes of real-time collision avoidance are presented which aid in the effectiveness of remote tele-operation. Sticky collision mode improves system safety by disallowing contact with modelled obstacles. Slippery mode Is used to improve the efficiency of the process by reducing the required level of operator skill. Both modes execute in real-time and have been implemented and tested on it remote excavator system. It was found that precise geometries could be excavated using extremely simplified cutting strategies that required very little fine control on the part of the operator, thereby improving the effectiveness of remote tele-excavation.
引用
收藏
页码：1666 / 1671
页数：6
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