Title :
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
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;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220151
