This project takes place in a collaboration between CIM and the Robotics and
Teleoperation Department of the French Commision on Atomic Energy (CEA). New
control algorithms for computer-aided teleoperation have been developed at
CEA. Assistance is given to the operator by introducing ``virtual mechanisms''
between the master and the slave arms. They act as programmable
jigs which guide the
operator along desired task features. Automatic position and/or
force control can also be added in user-specified directions. These
algorithms have been successefully implemented at CEA on an electrically
driven non-redundant system. The project aims at adapting and expanding
this technique to a hydraulic and redundant dextrous bilateral
teleoperation system manufactured by Sarcos Research.
L. Joly, C. Andriot, V. Hayward