Telerobotic control of the seven-degree-of-freedom CESAR manipulator
Conference
·
OSTI ID:7127043
The application of a computationally efficient kinematic control scheme for manipulators with redundant degrees of freedom to the unilateral telerobotic control of seven-degree-of-freedom manipulator (CESARM) at the Oak Ridge National Laboratory Center for Engineering Systems Advanced Research is presented. The kinematic control scheme uses a gradient projection optimization method, which eliminates that need to determine the generalized inverse of the Jacobian when solving for joint velocities, given Cartesian end-effector velocities. A six-degree-of-freedom (nonreplica) master controller is used. Performance indices for redundancy resolution are discussed. 5 ref., 6 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 7127043
- Report Number(s):
- CONF-8806183-1; ON: DE88012937
- Country of Publication:
- United States
- Language:
- English
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