Title :
Estimated force emulation for space robot using neural networks
Author :
Jun, Zhuang ; Sun, Zengqi ; Sun, Fuchun ; Liu, Jianping
Author_Institution :
Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
Abstract :
This paper introduces the telerobotic system estimated force emulation using neural networks. A delay-compensating 3D stereo-graphic simulator is implemented in SGI ONYX/4 RE2. The estimated force emulation can protect the real robot in time from being damaged in collision. The neural network is used to learn the mapping between the contact force error and the accommodated position command to the controller of the space robot. Finally, the controller can feel the emulated force with a two-hand 6-DOF master arm using the force feedback interface
Keywords :
aerospace robotics; force feedback; learning (artificial intelligence); neural nets; position control; telerobotics; 6-DOF master arm; contact force error; force feedback interface; learning; neural networks; position control; space robot; telerobotics; Delay; Emulation; Error correction; Force control; Force feedback; Neural networks; Orbital robotics; Protection; Robot control; Telerobotics;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863468
