Control of a teleoperator system with redundancy based on passivity conditions
Conference
·
OSTI ID:6043331
The purpose of this paper is to examine how a stiffness controller can be used to control a teleoperator system having a redundant degree-of-freedom (dof) slave manipulator and a dissimilar master. No path planning was allowed because the uncertainty of the environment and computational limitations. The proposed controller was implemented on the 7-dof Center for Engineering Systems Advanced Research Manipulator (CESARm) slave manipulator with a 6-dof Kraft master manipulator. The overall performance of this scheme and future directions are discussed. 21 refs., 3 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- DOE/ER
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6043331
- Report Number(s):
- CONF-910451-12; ON: DE91007679
- Country of Publication:
- United States
- Language:
- English
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