Active cartesian force control of a teleoperated robot is investigated. An economical microcomputer based control method was tested. Limitations are discussed and methods of performance improvement suggested. To demonstrate the performance of this technique, a preliminary test was performed with success. A general purpose bilateral force reflecting hand controller is currently being constructed based on this control method.
Real-time cartesian force feedback control of a teleoperated robot
1989-01-31
Conference paper
No indication
English
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