This paper presents the teleoperation system that controls humanoid slave robot. In order to do a job easily and accurately with humanoid slave, the teleoperation system should be human friendly oriented. The isomorphic configuration of master arm developed in this research helps an operator working with humanoid robot to do his job dexterously. Also new tactile feedback device is developed to provide an operator with a realistic tactile feeling to operator's fingers. Besides the master devices, guidance functions in virtual reality can be useful information to an operator. We describe the administration method of teleoperation system for humanoid robot and validate it through experiment in this paper.

The selection of measurement configurations for robot calibration is investigated. The goal is to select a set of robot measurement configurations which will yield maximum observability of the model parameter errors so that the effects of noise in parameter estimation can be minimized. The noise considered includes both measurement and modeling errors. An observability measure is used as a criterion for selecting measurement configurations in calibration. Experimental studies are performed to demonstrate the importance of observability to parameter estimation and to verify its implications in robot calibration. Based on the observability measure defined, the optimal measurement configurations for kinematic model calibration are determined for PUMA-type robots.>

For the accurate control and implementation of robots in an integrated manufacturing environment, a knowledge of the position errors of the end effector is important. The authors present a framework which can be used to characterize the position errors of robot manipulators. The objectives are to study the statistical properties of the errors and to characterize their distribution over the work space. The implications of the position-error field of a robot in its design and applications are also discussed.>