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Kinematics and control of a fully parallel force-reflecting hand controller for manipulator teleoperationDesign of a parallel force-reflecting hand controller that implements a friction- and inertia canceling control loop about the entire mechanism based on wrench sensing in the mechanism handgrip is discussed. Kinematics of the controller under consideration is analyzed and results are presented using a closed-form solution for the inverse kinematics and Newton-Raphson's method for the forward kinematics. Results indicate that the force control scheme based on a handgrip force sensor provides smaller steady-state errors than the scheme without a handigrip sensor.
Document ID
19930061601
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Bryfogle, Mark D.
(Science Applications International Corp. McLean, VA, United States)
Nguyen, Charles C.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Antrazi, Sami S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Chiou, Peter C.
(Catholic Univ. of America, Washington, United States)
Date Acquired
August 16, 2013
Publication Date
July 1, 1993
Publication Information
Publication: Journal of Robotic Systems
Volume: 10
Issue: 5
ISSN: 0741-2223
Subject Category
Man/System Technology And Life Support
Accession Number
93A45598
Funding Number(s)
CONTRACT_GRANT: NAS7-1069
Distribution Limits
Public
Copyright
Other

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