A force-reflecting teleoperation system with magnetically levitated master and wrist

TitleA force-reflecting teleoperation system with magnetically levitated master and wrist
Publication TypeConference Paper
Year of Publication1992
AuthorsSalcudean, S. E., N. M. Wong, and R. L. Hollis
Conference NameRobotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Pagination1420 -1426 vol.2
Date Publishedmay.
Keywordsadmittance matrices, controller parameterization, force control, force-reflecting teleoperation system, magnetic levitation, magnetically levitated master, robots, stability, stabilizing teleoperation system controllers, telecontrol equipment, teleoperation controller design
Abstract

The authors present a force-reflecting teleoperation system. The system consists of a conventional manipulator equipped with a magnetically levitated teleoperation master identical to the wrist. Aspects of mechanical, system, computational, and controller design are discussed. An approach to the design of force-reflecting teleoperation controllers is also discussed. Admittance matrices and the parameterization of all stabilizing teleoperation system controllers are used to guarantee teleoperation system performance and stability. Some preliminary experimental results are presented

URLhttp://dx.doi.org/10.1109/ROBOT.1992.220151
DOI10.1109/ROBOT.1992.220151

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