Experimental telemanipulator system of force-reflecting-hand-controller type provides for active compliance and damping in remote, robotic manipulator hand. Distributed-computing and -control system for research in various combinations of force-reflecting and active-compliance control regimes. Shared compliance control implemented by low-pass-filtered force/torque feedback. Variable simulated springs and shock absorbers soften collisions and increase dexterity.
Active Compliance And Damping In Telemanipulator Control
NASA Tech Briefs ; 15 , 4
1991-04-01
Sonstige
Keine Angabe
Englisch
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