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Force-reflective teleoperated system with shared and compliant control capabilities
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Szakaly, Z. Kim, W. S. Bejczy, A. K. |
| Copyright Year | 1989 |
| Description | The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz. |
| File Size | 591394 |
| Page Count | 12 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020529 |
| Archival Resource Key | ark:/13960/t8gf5q590 |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Man/system Technology And Life Support Controllers Teleoperators Electromechanical Devices Robot Control Control Systems Design Manual Control Manipulators Robot Dynamics Remote Control Computer Programs Time Lag Robot Arms Breadboard Models Automatic Control End Effectors Man Machine Systems Servomechanisms Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
