DocumentCode
3218365
Title
Control of a teleoperator system with redundancy based on passivity conditions
Author
Jansen, J.F. ; Kress, R.L.
Author_Institution
Oak Ridge Nat. Lab., TN, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
478
Abstract
Ways a stiffness controller can be used to control a teleoperator system with a redundant degree-of-freedom (DOF) slave manipulator and a dissimilar master are examined. No path planning is allowed because of the uncertainty of the environment and computational limitations. The proposed controller was implemented on the 7-DOF Center for Engineering Systems Advanced Research Manipulator slave manipulator with a 6-DOF Kraft master manipulator. The overall performance of this scheme and future directions are discussed
Keywords
mechanical variables control; redundancy; robots; telecontrol; 6-DOF Kraft; master manipulator; master slave systems; redundancy; robots; slave manipulator; stiffness controller; teleoperator system; Control systems; Elbow; Humans; Jacobian matrices; Manipulators; Master-slave; Servomechanisms; Teleoperators; Torque; Transfer functions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131624
Filename
131624
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