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
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131624
