Command Generation for Reducing Perceived Lag in Flexible Telerobotic Arms

Abstract

Telerobotic arms with flexible dynamics respond to operator commands in a somewhat unpredictable manner. The deflections and oscillations can pose a safety hazard if the arms are operated aggressively. On the other hand, they can decrease productivity if the operator acts in an overly conservative manner to accommodate the behavior. The nexible dynamics can be reduced through the use of input shaping;however, a time lag is introduced in the system response. This paper presents input shaping methods that reduce the apparent lag experienced by the operator.