Control Structures in Sensor-Based Telerobotic Systems

Kurzfassung

In the paper the most relevant concepts in telerobotics, mainly seen from the viewpoint of control structures are outlined. Pure positional master-slave-systems are compared with bilateral force-reflecting systems and systems that provide local autonomy e.g.via active compliance. The problem of delay-compensation using predictive computer graphics is outlined. A space robot technology experiment that contains many of the ideas presented is briefly discussed.