Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics

Technical Report · Wed Nov 01 00:00:00 EST 1989

DOI:https://doi.org/10.2172/5297021· OSTI ID:5297021

Jansen, J. F.; Babcock, S. M.

Several bilateral control techniques and methods for exploiting redundant slaves are investigated as a part of research to develop and analyze bilateral, force-reflecting control methodologies for teleoperator systems with kinematic dissimilar masters and slaves. The study indicates that, with force/torque sensing at the wrist, and an impedance type of controller with the appropriate joint compensation, a significant improvement in performance and controllability of a teleoperator system can be achieved. 32 refs., 6 figs., 2 tabs.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOD
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5297021
• Report Number(s): ORNL/TM-11326; ON: DE90004392
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
47 OTHER INSTRUMENTATION
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
FORCING FUNCTIONS
REFLECTION
ROBOTS
FEEDBACK
CONTROL THEORY
ELECTRIC MOTORS
END EFFECTS
FORECASTING
FRICTION FACTOR
GEARS
KINETICS
MAN-MACHINE SYSTEMS
MANIPULATORS
MATHEMATICAL MODELS
NONLINEAR PROBLEMS
PERFORMANCE TESTING
RECOMMENDATIONS
REMOTE HANDLING EQUIPMENT
STABILITY
TRANSIENTS
EQUIPMENT
LABORATORY EQUIPMENT
MACHINE PARTS
MATERIALS HANDLING EQUIPMENT
MOTORS
TESTING
420203* - Engineering- Handling Equipment & Procedures
426000 - Engineering- Components
Electron Devices & Circuits- (1990-)
440800 - Miscellaneous Instrumentation- (1990-)
990200 - Mathematics & Computers