Manipulation of large objects

Remote manipulator control experiments have been conducted to investigate the problems related to the 'controlled collision' aspect of manipulation. A six degrees of freedom pantograph arm with a six-dimensional force-torque balance sensor and microprocessor-driven real-time graphics display are employed in the experiments. Among other results, it is found that the use of computer force-torque feedback loop for 'stop at contact' provides a nearly linear relation between load transfer to jigs at 'stop at contact', rate of motion, and preset force-torque threshold values for stop under limited motion and load conditions.