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Objects interaction using superquadrics for telemanipulation system simulation

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Date Issued:
Title: Objects interaction using superquadrics for telemanipulation system simulation.
Name(s): Agba, Emmanuel I., creator
Wong, Tin-Lup, creator
Huang, Ming Z., creator
Clark, A. M., creator
Harbor Branch Oceanographic Institute
Type of Resource: text
Genre: Article
Issuance: single unit
Date Issued: 1993
Publisher: John Wiley & Sons, Inc.
Extent: 23 p.
Physical Description: pdf
Language(s): English
Identifier: 3342309 (digitool), FADT3342309 (IID), fau:6414 (fedora), 10.1002/rob.4620100102 (doi)
Note(s): A high-fidelity “hybrid” telerobotic simulator suitable for telemanipulation rehearsal, supervisory control, operator training, and human factors performance evaluation has been developed. The simulator is capable of operation in the conventional rate-control, master/slave control, and a data-driven preprogrammed mode of operation. It has teach/playback capability, which allows an operator to generate joint commands for real-time teleoperation. For high-level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. In this article, an object detection strategy that has been implemented in the simulator for more realistic telemanipulation is presented.
This manuscript is an author version with the final publication available at and may be cited as: Agba, E. I., Wong, T-L., Huang, M. Z., & Clark, A. M. (1993). Objects interaction using superquadrics for telemanipulation system simulation. Journal of Robotic Systems, 10(1), 1-22. doi:10.1002/rob.4620100102
Florida Atlantic University. Harbor Branch Oceanographic Institute contribution #861.
Subject(s): Robotics
Persistent Link to This Record:
Restrictions on Access: ©1993 John Wiley & Sons, Inc.
Host Institution: FAU