Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
The purpose of this paper is to develop a controller for a force-reflecting teleoperator system having kinematically dissimilar master and slave. The controller is a stiffness controller for both the master and the slave. A mathematical problem associated with representing orientations using Euler angles is described, and Euler parameters are proposed as a solution. The basic properties of Euler parameters are presented, specifically those pertaining to stiffness control. The stiffness controller for both the master and the slave is formulated using Euler parameters to represent orientation and a Liapunov stability proof is presented for the controller. The master portion of the control scheme is implemented on a six-degree-of-freedom master.
- Research Organization:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE; USDOD
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5935753
- Report Number(s):
- CONF-901194--15; ON: DE91010187
- Journal Information:
- Journal of Dynamic Systems, Measurement, and Control, Journal Name: Journal of Dynamic Systems, Measurement, and Control Journal Issue: 4 Vol. 114; ISSN 0022-0434
- Publisher:
- ASME
- Country of Publication:
- United States
- Language:
- English
Similar Records
Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics
Stiffness control of teleoperators with redundant, dissimilar kinematics
Related Subjects
420203* -- Engineering-- Handling Equipment & Procedures
97 MATHEMATICS AND COMPUTING
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ACTUATORS
ALGORITHMS
CARTESIAN COORDINATES
CONTROL EQUIPMENT
COORDINATES
DEGREES OF FREEDOM
DESIGN
DIFFERENTIAL EQUATIONS
DYNAMICS
EIGENVALUES
ENVIRONMENT
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
FUNCTIONS
IMPLEMENTATION
JACOBIAN FUNCTION
JOINTS
LABORATORY EQUIPMENT
LYAPUNOV METHOD
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MECHANICS
ORIENTATION
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
ROBOTS
SPACE DEPENDENCE