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Impact of inertia, friction, and backlash upon force control in telemanipulation
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Gale, Karen L. Zik, John J. Duffie, Neil A. Wiker, Steven F. |
| Copyright Year | 1991 |
| Description | The mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors. |
| File Size | 372510 |
| Page Count | 6 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19910011335 |
| Archival Resource Key | ark:/13960/t0fv3gg33 |
| Language | English |
| Publisher Date | 1991-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Teleoperators Robot Control Manual Control Manipulators Human Factors Engineering Friction Factor Feedback Control Robot Dynamics Remote Control Inertia Force Distribution Telerobotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
