Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics
Abstract
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.
- Publication:
-
NASA STI/Recon Technical Report N
- Pub Date:
- November 1989
- Bibcode:
- 1989STIN...9016132J
- Keywords:
-
- Control Theory;
- Feedback;
- Kinematics;
- Kinetics;
- Manipulators;
- Robots;
- Teleoperators;
- Electric Motors;
- Forecasting;
- Gears;
- Mathematical Models;
- Reflection;
- Stability;
- Surges;
- Torque Sensors (Robotics);
- Electronics and Electrical Engineering