Stiffness control of teleoperators with redundant, dissimilar kinematics

Conference · Sun Dec 31 23:00:00 EST 1989

DOI:https://doi.org/10.1109/ICSYSE.1990.203107· OSTI ID:6881106

Jansen, J F; Kress, R; Babcock, S; Hamel, W

This paper addresses the problem of dissimilar kinematic teleoperator systems. Since the next generation of teleoperator systems will likely include dissimilar kinematics, a workable control scheme compatible with modern microprocessor computing capability is needed. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. Due to the ongoing nature of this research and limited space allowed, only a brief summary will be given concerning the overall control strategy; instead, the master controller and orientation representation for both the master and slave will be the main focus of this paper. 10 refs., 1 fig.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOD; DOE/ER
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6881106
• Report Number(s): CONF-9008103-1; ON: DE90011642
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
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COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DYNAMICS
ENGINEERING
EQUATIONS
EQUIPMENT
FEEDBACK
HUMAN FACTORS ENGINEERING
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICS
REMOTE HANDLING EQUIPMENT