Controller design for a teleoperator system with dissimilar kinematics and force feedback
The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. The master controller and the orientation representation using Euler parameters for the both the master and slave will be the main focus of this paper. The implementation of the master controller on a 6-degrees-of-freedom (DOF) master is also discussed. Only a brief summary of the overall strategy will be presented. 13 refs., 1 fig.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- USDOD
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6452695
- Report Number(s):
- CONF-910223-4; ON: DE91004391
- Resource Relation:
- Conference: 4. topical meeting on robotics and remote systems, Albuquerque, NM (USA), 24-28 Feb 1991
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
CONTROL
DESIGN
FEEDBACK
MANIPULATORS
MATHEMATICAL MODELS
MICROPROCESSORS
NAVIGATION
COMPUTERS
ELECTRONIC CIRCUITS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MICROELECTRONIC CIRCUITS
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers