The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalised force reflecting master arm. Problems concerning their dynamic interaction with the human operators arm have been revealed in the use of these systems. A study is outlined to investigate the optimisation of the dynamics of master-slave manipulation, and a set of specifications determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system is discussed, as is its performance. The experimental adjustment of the hand controller's dynamics for optimum manual control performance is described.


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    Title :

    An impedance controlled force reflecting hand controller; design, implementation, and experimentation


    Additional title:

    Eine widerstandsgesteuerte, kraftreflektierende Handsteuerung: Entwurf, Einfuehrung und Versuche


    Contributors:

    Published in:

    AIAA-Papers ; Jan ; 1-9


    Publication date :

    1988


    Size :

    9 Seiten, 6 Bilder, 11 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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