Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.


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    Title :

    Bilateral Impedance Control For Telemanipulators


    Contributors:

    Published in:

    Publication date :

    1993-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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