Real time algorithms for robotic control of teleoperators
Conference
·
OSTI ID:6490687
The Department of Energy recently established a Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory. The Center's charter is to address long-range energy related research in intelligent control systems operating in unstructured environments. The purpose of this paper is to report recent progress toward the development of real-time algorithms, incorporating inverse dynamics, for robotic control of manipulators with backdrivable actuation designed for teleoperation. Parallel state-representation dynamics, concurrent algorithms, and algorithms for manipulators with centralized actuation are discussed. This activity is part of a larger effort with complementary tasks in robot strategy planning, sensor fusion, etc.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6490687
- Report Number(s):
- CONF-8406126-3; ON: DE85001137
- Country of Publication:
- United States
- Language:
- English
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