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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    Title :

    Design of a telerobotic controller with joint torque sensors


    Contributors:

    Publication date :

    1990-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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