Force-reflecting control of a teleoperated system coupling a nonredundant master with a redundant slave

Conference · Mon Jan 01 04:00:00 EST 1990

OSTI ID:7121055

Kress, R; Jansen, J; DePiero, F; Babcock, S

A bilateral, force-reflecting controller was formulated for a 6- Degree-of-Freedom (6-DOF) master operating a 7-DOF slave. Six degrees of freedom are required to arbitrarily position and orient a manipulator and effector. A 7-DOF slave manipulator is desirable because the additional (or redundant) degree of freedom potentially allows for an infinite number of manipulator configurations for a given end effector position and orientation, thus permitting the manipulator to reach around obstacles to perform a task, to avoid joint limits, or to optimize its confinguration in some other manner. A master/slave control system was formulated using a stiffness controller for the master and a gradient-projection algorithm for the slave. The complete control system provides scaled position tracking and indexing between slave and master and force reflection between master and slave. 11 refs., 1 fig.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOD; DOE/ER
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7121055
• Report Number(s): CONF-900780-6; ON: DE90012137
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ALGORITHMS
COMPUTERIZED CONTROL SYSTEMS
CONTROL
CONTROL EQUIPMENT
CONTROL SYSTEMS
CONTROL THEORY
DEGREES OF FREEDOM
EQUIPMENT
FEEDBACK
FORCING FUNCTIONS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
REMOTE CONTROL
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
SERVOMECHANISMS