Natural transition from rate to force control of a manipulatorA method for teleoperator control which offers advantages over previous techniques is demonstrated. In the new method, a fundamental variable exchanged between the master and slave is the rate of change in position and force. An inherent capability of the control scheme is demonstrated for transition between control methods based on environmental constraints in a manner natural to the operator. Specifically, rate control of a manipulator makes the transition to force-force control when a force-reflecting hand controller is used with a local force accommodation algorithm running on the remote manipulator. The transition from rate to force occurs when contact is made with the environment.
Document ID
19920055956
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Harrison, F. W. (NASA Langley Research Center Hampton, VA, United States)
Soloway, Don (NASA Langley Research Center Hampton, VA, United States)
Williams, Robert L. (NASA Langley Research Center Hampton, VA, United States)
Hogge, Edward F. (NASA Langley Research Center Hampton, VA, United States)