Control system analysis and synthesis for a six degree-of-freedom universal Force-Reflecting Hand ControllerA six degree-of-freedom joystick with feedback motors, called the Force-Reflecting Hand Controller (FRHC) is used as control input for the human operator in a teleoperator system. The geometric and dynamic properties of the FRHC are entirely different from those of the manipulator being controlled. The paper discusses the analysis and synthesis of the control loop between the FRHC and the robot arm and examines the necessary position and force transformations. The controller is implemented through a dedicated minicomputer.
Document ID
19820042097
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Handlykken, M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Turner, T. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)