Kinesthetic coupling between operator and remote manipulatorA universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.
Document ID
19810063582
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Bejczy, A. K. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Salisbury, J. K., Jr. (Stanford University Stanford, CA, United States)
Date Acquired
August 11, 2013
Publication Date
January 1, 1980
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: International Computer Technology Conference on Advances in computer technology - 1980