Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
The purpose of this paper is to develop a controller for a force-reflecting teleoperator system having kinematically dissimilar master and slave. The controller is a stiffness controller for both the master and the slave. A mathematical problem associated with representing orientations using Euler angles is described, and Euler parameters are proposed as a solution. The basic properties of Euler parameters are presented, specifically those pertaining to stiffness control. The stiffness controller for both the master and the slave is formulated using Euler parameters to represent orientation and a Liapunov stability proof is presented for the controller. The master portion of the control scheme is implemented on a six-degree-of-freedom master.
- Research Organization:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE; USDOD
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5935753
- Report Number(s):
- CONF-901194-15; ON: DE91010187
- Journal Information:
- Journal of Dynamic Systems, Measurement, and Control, Vol. 114, Issue 4; Conference: American Society of Mechanical Engineers (ASME) Winter Annual Meeting, Dallas, TX (United States), 25-30 Nov 1990; ISSN 0022-0434
- Publisher:
- ASME
- Country of Publication:
- United States
- Language:
- English
Similar Records
Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics
Force-reflecting control of a teleoperated system coupling a nonredundant master with a redundant slave
Related Subjects
99 GENERAL AND MISCELLANEOUS
97 MATHEMATICS AND COMPUTING
MANIPULATORS
CONTROL EQUIPMENT
ACTUATORS
ALGORITHMS
CARTESIAN COORDINATES
DEGREES OF FREEDOM
DESIGN
DYNAMICS
EIGENVALUES
ENVIRONMENT
EQUATIONS OF MOTION
IMPLEMENTATION
JACOBIAN FUNCTION
JOINTS
LYAPUNOV METHOD
ORIENTATION
ROBOTS
SPACE DEPENDENCE
COORDINATES
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUIPMENT
FUNCTIONS
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MECHANICS
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers