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Active Compliance And Damping In Telemanipulator ControlExperimental telemanipulator system of force-reflecting-hand-controller type provides for active compliance and damping in remote, robotic manipulator hand. Distributed-computing and -control system for research in various combinations of force-reflecting and active-compliance control regimes. Shared compliance control implemented by low-pass-filtered force/torque feedback. Variable simulated springs and shock absorbers soften collisions and increase dexterity.
Document ID
19910000142
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Kim, Won S.
(Caltech)
Bejczy, Antal K.
(Caltech)
Hannaford, Blake
(Caltech)
Date Acquired
August 14, 2013
Publication Date
April 1, 1991
Publication Information
Publication: NASA Tech Briefs
Volume: 15
Issue: 4
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-17969
Accession Number
91B10142
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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