A force-reflecting teleoperation system with magnetically levitated master and wrist

Author

Salcudean, S.E. ; Wong, N.M. ; Hollis, R.L.

Author_Institution

Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada

fYear

1992

fDate

12-14 May 1992

Firstpage

1420

Abstract

The authors present a force-reflecting teleoperation system. The system consists of a conventional manipulator equipped with a magnetically levitated teleoperation master identical to the wrist. Aspects of mechanical, system, computational, and controller design are discussed. An approach to the design of force-reflecting teleoperation controllers is also discussed. Admittance matrices and the parameterization of all stabilizing teleoperation system controllers are used to guarantee teleoperation system performance and stability. Some preliminary experimental results are presented

Keywords

force control; magnetic levitation; robots; stability; telecontrol equipment; admittance matrices; controller parameterization; force-reflecting teleoperation system; magnetically levitated master; stability; stabilizing teleoperation system controllers; teleoperation controller design; Automatic control; Control systems; Force control; Humans; Magnetic levitation; Manipulators; Master-slave; Robotic assembly; Robotics and automation; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220151

Filename

220151