Dynamic modeling used for the addition of robotic operation to the Advanced Servomanipulator teleoperator

Conference · Sun Jan 01 00:00:00 EST 1989

OSTI ID:6477998

Corbett, G K; Bailey, J M

A robotic mode has been added to the Advanced Servomanipulator (ASM), a 6 degree-of-freedom master/slave teleoperator. In order to understand the requirements for implementation of robotics on an arm designed for teleoperation, a dynamic simulation of the ASM slave arm was developed. The ASM model and modifications of the control system for robotic operation are presented. 7 refs., 3 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6477998
• Report Number(s): CONF-8904111-1; ON: DE89006422
• Resource Relation: Conference: Southeastcon '89 conference and exhibition, Columbia, SC, USA, 9 Apr 1989; Other Information: Paper copy only, copy does not permit microfiche production
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
COMPUTERIZED CONTROL SYSTEMS
COMPUTERIZED SIMULATION
MATHEMATICAL MODELS
REMOTE HANDLING
ROBOTS
CONTROL SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
SIMULATION
420200* - Engineering- Facilities
Equipment
& Techniques
990220 - Computers
Computerized Models
& Computer Programs- (1987-1989)
990230 - Mathematics & Mathematical Models- (1987-1989)