Dual arm master controller concept

Conference · Sun Jan 01 00:00:00 EST 1984

OSTI ID:6481989

Kuban, D P; Perkins, G S

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures.

• Research Organization: Oak Ridge National Lab., TN (USA); Jet Propulsion Lab., Pasadena, CA (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6481989
• Report Number(s): CONF-840793-2; ON: DE85001901
• Resource Relation: Conference: USDOE/ORNL/PNC national topical meeting on robotics and remote handling in hostile environments, Tokyo, Japan, 24 Jul 1984; Other Information: Portions are illegible in microfiche products
• Country of Publication: United States
• Language: English

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