Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.
Remote Robot Control With High Force-Feedback Gain
NASA Tech Briefs ; 17 , 8
1993-08-01
Miscellaneous
No indication
English
American Institute of Physics | 2019
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