Title :
Dynamics identification and control of a teleoperational system
Author :
Pawluk, D.T. ; Ellis, R.E.
Author_Institution :
Dept. of Comput. & Inf. Sci., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
A method is described for modeling and controlling a 2-DOF master system of a bilateral force-reflecting teleoperational device. The primary method of control involves the open-loop inversion of the system dynamics. It differs from previous methods in that: (1) it uses an experimentally derived black box nonlinear model of the system; and (2) it does not assume an infinitely stiff actuator chain in the master system (i.e., it considers the nonlinear effects of the operator on the dynamics of the chain). Preliminary results are included
Keywords :
dynamics; identification; nonlinear control systems; robots; telecontrol; 2-DOF master system; bilateral force reflecting teleoperational systems; black box nonlinear model; identification; infinitely stiff actuator chain; modeling; open-loop; robotics; system dynamics; Control systems; Force control; Force sensors; Humans; Motion control; Nonlinear dynamical systems; Robot control; Robot sensing systems; Torque control; Wrist;
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.1991.131903
