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Developments of new force reflecting control schemes and an application to a teleoperation training simulatorTwo schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.
Document ID
19930051548
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kim, Won S.
(JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 2 (A93-35501 13-63)
Publisher: IEEE Computer Society Press
Subject Category
Cybernetics
Accession Number
93A35545
Distribution Limits
Public
Copyright
Other

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