Abstract
The present paper deals with obtaining the properly mixed application criteria for the manual mode, using computer graphic simulation, in order to recover the error effectively occuring in the advanced teleoperator work of man-robot system.
In the experiments, the error which is occurred during performing the automatic mode is recovered by the manual mode properly combined operation by a human and the control program. The result shows an improvement availability of the system not only with efficient combination of the manual mode according to trajectory planning, but also with effective error recovery. Therefore, we suggest that the operation by the control program should be applied to macro-motion of control and the operation by a human to micro-motion of control.
