Position resolution is a major problem in teleoperation applications with significant disparity between master and slave workspace. While rate mode control is suitable for slave free motion operations, it poses significant stability and performance challenges for task manipulation. In this paper, we propose a hybrid control scheme that offers seamless transition between position and rate control modes based on the environment location information collected from a range sensor. The system incorporates the strengths of position and rate control modes while masking their shortcomings. Experiments to determine the viability of this method are carried out on a single degree-of-freedom teleoperation test-bed.

位置解析是远程操作应用程序中的一个主要问题，在主工作空间和从工作空间之间存在巨大差异。虽然速率模式控制适用于从机自由运动操作，但它对任务操纵提出了重大的稳定性和性能挑战。在本文中，我们提出了一种混合控制方案，该方案基于从距离传感器收集的环境位置信息，提供位置和速率控制模式之间的无缝过渡。该系统结合了位置和速率控制模式的优势，同时掩盖了它们的缺点。确定这种方法可行性的实验是在单个自由度遥测试验台上进行的。