A study on a comparison between the ERES/WCS and the ERES/CCS in the advanced teleoperator system

Abstract

A world-model teleoperator expert system with the ERES/WCS (error recovery expert system/world coordinate system) has been developed. Its superiority to the ERES/CCS (CCS=Cartesian coordinate system) has been demonstrated experimentally. The ERES/WCS which uses heuristics requires less error recovery time in the manual mode than the ERES/CCS, which uses inverse kinematics. The results are pertinent to developing a man-robot system for tasks in hostile environments.<>