Design of a telerobotic controller with joint torque sensorsThe purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.
Document ID
19910050560
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Jansen, J. F. (Oak Ridge National Lab. TN, United States)
Herndon, J. N. (Oak Ridge National Laboratory TN, United States)