Operator-in-the-loop simulation of a redundant manipulator under teleoperation

Journal Article · Thu Jul 01 00:00:00 EDT 1993 · Simulation; (United States)

DOI:https://doi.org/10.1177/003754979306100104· OSTI ID:6458038

Yae, K H; Lin, T C; Chern, S T ^[1]; Frisch, H P ^[2]

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1. The Univ. of Iowa, Iowa City, IA (United States). Dept. of Mechanical Engineering.
2. NASA Goddard Space Flight Center, Greenbelt, MD (United States)

For an interactive simulation of 7 degree-of-freedom redundant manipulator under teleoperation, this paper describes an iterative form of resolved-motion rate control in which the constraint Jacobian is constructed on-line in real time and used in the pseudoinverse method as the manipulator is teleoperated. The manipulator's tasks may involve trajectory following in free space and frequent contact with the environment through pick-and-put operation. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables and subsequently joint torque. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. The simulator is built on a two-processor IRIS workstation, with one processor for graphics and the other for dynamics and control analysis. This simulator has a potential for training the teleoperator, developing operational scenarios through visualization of the simulation, and testing the design of operator-machine interface.

• OSTI ID: 6458038
• Journal Information: Simulation; (United States), Journal Name: Simulation; (United States) Vol. 61:1; ISSN 0037-5497; ISSN SIMUA2
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
CARTESIAN COORDINATES
COMPUTER GRAPHICS
COMPUTERIZED SIMULATION
CONTROL
CONTROL EQUIPMENT
COORDINATES
DEGREES OF FREEDOM
DYNAMICS
EDUCATION
EQUIPMENT
FUNCTIONS
JACOBIAN FUNCTION
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICS
MOTION
REAL TIME SYSTEMS
REMOTE CONTROL
REMOTE HANDLING EQUIPMENT
SIMULATION
TRAINING