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Impact of Inertia, Friction, and Backlash upon Force Control in TelemanipulationThe mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors.
Document ID
19910011335
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
Authors
Neil A Duffie
(University of Wisconsin–Madison Madison, United States)
John J Zik
(University of Wisconsin–Madison Madison, United States)
Steven F Wiker
(University of Wisconsin–Madison Madison, United States)
Karen L Gale
(University of Wisconsin–Madison Madison, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)
Publisher: National Aeronautics and Space Administration
Volume: 1
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CP-3103-VOL-1
Meeting Information
Meeting: 4th Annual Workshop on Space Operations Applications and Research (SOAR)
Location: Albuquerque, NM
Country: US
Start Date: June 26, 1990
End Date: June 28, 1990
Sponsors: National Aeronautics and Space Administration, United States Air Force
Accession Number
91N20648
Funding Number(s)
CONTRACT_GRANT: NAGW-975
Distribution Limits
Public
Copyright
Use by or on behalf of the US Gov. Permitted.
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