The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.


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    Titel :

    Design of a telerobotic controller with joint torque sensors


    Beteiligte:
    Jansen, J. F. (Autor:in) / Herndon, J. N. (Autor:in)

    Erscheinungsdatum :

    1990-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Design of a telerobotic controller with joint torque sensors

    Jansen, J.F. / Herndon, J.N. | Tema Archiv | 1990


    Telerobotic controller development

    Otaguro, W. S. / Kesler, L. O. / Land, Ken et al. | NTRS | 1987


    Telerobotic Controller Development

    W. S. Otaguro / L. O. Kesler / K. Land et al. | NTIS | 1987



    Hardware Design for Joint EVA and Telerobotic Compatibility

    Anderson, D. E. / James, D. G. / Moore, T. O. | SAE Technical Papers | 1993