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1 February 1991 Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller
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Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Most available manual controllers which are used in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size heavy weight high cost low magnitude of reflecting-force lack of smoothness insufficient transparency and simplified architectures. A compact smooth lightweight portable universal manual controller could provide a markedly improved level of transparency and be able to drive a broad spectrum of slave manipulators. This implies that a single stand-off position could be used for a diverse population of remote systems and that a standard environment for training of operators would result in reduced costs and higher reliability. In the implementation presented in this paper a parallel 3 degree-of-freedom (DOF) spherical structure (for compactness and reduced weight) is combined with high gear-ratio reducers using a force control algorithm to produce a " power steering" effect for enhanced smoothness and transparency. The force control algorithm has the further benefit of minimizing the effect of the system friction and non-linear inertia forces. The fundamental analytical description for the spherical force-reflecting manual controller such as forward position analysis reflecting-force transformation and applied force control algorithm are presented. Also a brief description of the system integration its actual implementation and preliminary test results are presented in the paper.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Whee-Kuk Kim, Pat Bevill, and Delbert Tesar "Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991);

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