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.


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    Title :

    Real-time cartesian force feedback control of a teleoperated robot


    Contributors:


    Publication date :

    1989-01-31


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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