Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics
- 1 November 1989
- report
- Published by Office of Scientific and Technical Information (OSTI)
Abstract
Several bilateral control techniques and methods for exploiting redundant slaves are investigated as a part of research to develop and analyze bilateral, force-reflecting control methodologies for teleoperator systems with kinematic dissimilar masters and slaves. The study indicates that, with force/torque sensing at the wrist, and an impedance type of controller with the appropriate joint compensation, a significant improvement in performance and controllability of a teleoperator system can be achieved. 32 refs., 6 figs., 2 tabs.Keywords
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