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Fault-Tolerant Teleoperation Systems Design (Paperback)
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Fault-Tolerant Teleoperation Systems Design (Paperback)
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While the robots gradually become a part of our daily lives, they
already play vital roles in many critical operations. Some of these
critical tasks include surgeries, battlefield operations, and tasks
that take place in hazardous environments or distant locations such
as space missions. In most of these tasks, remotely controlled
robots are used instead of autonomous robots. This area of robotics
is called teleoperation. Teleoperation systems must be reliable
when used in critical tasks even under a subsystem or communication
line failure. Teleoperation controllers are presented to compensate
for instabilities due to communication line failures.
Fault-tolerant design and modeling of the master and slave systems
are also addressed at different levels to prevent subsystem
failure. Virtual Rapid Robot Prototyping, is introduced to create
system models rapidly and accurately. Teleoperation systems
configured in this book are then tested both in numerical
simulations and experiments. Overall, by employing the fault-
tolerance features and the proposed controllers, teleoperation
designers can configure more reliable systems for a wider range of
critical missions.
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