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.


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    Title :

    Active Compliance And Damping In Telemanipulator Control


    Contributors:

    Published in:

    Publication date :

    1991-04-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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