The authors 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.
Design of a telerobotic controller with joint torque sensors
Entwurf einer Telerobotersteuerung mit verbundenen Drehmomentsensoren
1990
7 Seiten, 14 Quellen
Conference paper
English
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