Telerobotic control of the seven-degree-of-freedom CESAR manipulator

Conference · Fri Jan 01 00:00:00 EST 1988

OSTI ID:7127043

Babcock, S M; Dubey, R V; Euler, J A; Glassell, R L; Kress, R L; Hamel, W R

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
• Resource Relation: Conference: NATO advanced research workshop on robots with redundancy: design, sensing, and control, Salo, Italy, 27 Jun 1988; Other Information: Portions of this document are illegible in microfiche products
• Country of Publication: United States
• Language: English

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