Report describes unified scheme for autonomous supervisory, shared, and teleoperation control of robotic manipulator equipped with multiple position, force, and velocity sensors. Scheme developed according to impedance-control approach in which manipulator acts as different specified impedance to each sensor source, real or virtual. Relatively simple control system has wide range of capabilities, and enables relatively simple integration of new sensors into system.
Unified Robot-Control Scheme
NASA Tech Briefs ; 17 , 11
1993-11-01
Miscellaneous
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English