Efficient Coordination of an Anthropomorphic Telemanipulation System.

Abstract

This report documents the development of coordination algorithms for control implementation of an anthropomorphic telemanipulation system presently at Wright-Patterson Air Force Base. The telemanipulation system, which is to be used as a research platform in facilitating studies on human sensory feedback, comprises a 7 degree-of-freedom (d.o.f.) force-reflecting exoskeleton master and a 6 d.o.f. articulated slave robot. The approach taken in the development emphasizes the practical issue of computation efficiency--a primary concern for satisfactory real-time operations. The algorithms presented here have been fully tested and implemented on the system. Implementation results indicate that at least a five-fold improvement on the control sampling rate has been achieved (from 11 Hz to 62 Hz on a 68020-based VME board). Other practical issues of implementation are also discussed.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1993
Accession Number
ADA313738

Entities

People

  • Ming Z. Huang

Organizations

  • Armstrong Laboratory

Tags

Communities of Interest

  • Autonomy
  • Human Systems
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Air Force
  • Algorithms
  • Brushless Dc Motors
  • Computations
  • Control Systems
  • Dc Motors
  • Exoskeleton
  • Feedback
  • Government Procurement
  • Governments
  • Human-Machine Systems
  • Kinematics
  • Measurement
  • Motors
  • Orientation (Direction)
  • Reflection
  • Sampling

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control