Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics
Several bilateral control techniques and methods for exploiting redundant slaves are investigated as a part of research to develop and analyze bilateral, force-reflecting control methodologies for teleoperator systems with kinematic dissimilar masters and slaves. The study indicates that, with force/torque sensing at the wrist, and an impedance type of controller with the appropriate joint compensation, a significant improvement in performance and controllability of a teleoperator system can be achieved. 32 refs., 6 figs., 2 tabs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- DOD
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5297021
- Report Number(s):
- ORNL/TM-11326; ON: DE90004392
- Country of Publication:
- United States
- Language:
- English
Similar Records
Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave
Controller design for a teleoperator system with dissimilar kinematics and force feedback
Force-reflecting control of a teleoperated system coupling a nonredundant master with a redundant slave
Conference
·
Mon Nov 30 23:00:00 EST 1992
· Journal of Dynamic Systems, Measurement, and Control
·
OSTI ID:5935753
Controller design for a teleoperator system with dissimilar kinematics and force feedback
Conference
·
Sun Dec 31 23:00:00 EST 1989
·
OSTI ID:6452695
Force-reflecting control of a teleoperated system coupling a nonredundant master with a redundant slave
Conference
·
Sun Dec 31 23:00:00 EST 1989
·
OSTI ID:7121055
Related Subjects
42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
426000 -- Engineering-- Components
Electron Devices & Circuits-- (1990-)
440800 -- Miscellaneous Instrumentation-- (1990-)
47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
CONTROL THEORY
ELECTRIC MOTORS
END EFFECTS
EQUIPMENT
FEEDBACK
FORCING FUNCTIONS
FORECASTING
FRICTION FACTOR
GEARS
KINETICS
LABORATORY EQUIPMENT
MACHINE PARTS
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MOTORS
NONLINEAR PROBLEMS
PERFORMANCE TESTING
RECOMMENDATIONS
REFLECTION
REMOTE HANDLING EQUIPMENT
ROBOTS
STABILITY
TESTING
TRANSIENTS
420203* -- Engineering-- Handling Equipment & Procedures
426000 -- Engineering-- Components
Electron Devices & Circuits-- (1990-)
440800 -- Miscellaneous Instrumentation-- (1990-)
47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
CONTROL THEORY
ELECTRIC MOTORS
END EFFECTS
EQUIPMENT
FEEDBACK
FORCING FUNCTIONS
FORECASTING
FRICTION FACTOR
GEARS
KINETICS
LABORATORY EQUIPMENT
MACHINE PARTS
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MOTORS
NONLINEAR PROBLEMS
PERFORMANCE TESTING
RECOMMENDATIONS
REFLECTION
REMOTE HANDLING EQUIPMENT
ROBOTS
STABILITY
TESTING
TRANSIENTS