A study on an efficient combination of the manual mode according to trajectory planning

궤도계획에 의한 수동모드의 효율적 배합에 관한 연구

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