Telerobotic Control Architecture Including Force-Reflection
Abstract
This report describes the implementation of a telerobotic control architecture to manipulate a standard six-degree-of-freedom robot via a unique seven-degree-of-freedom force-reflecting exoskeleton which is located in the Human Sensory Feedback Laboratory at Wright-Patterson Air Force Base. This is the first time that the robot and exoskeleton have been interfaced. The novel Naturally-Transitioning Rate-to-Force Controller is included in the implementation. Background for the control architecture and modes of operation are presented as well as the specific system description and operating procedures. Peg-insertion experiments were conducted to compare the performance of rate control, naturally-transforming rate-to-force control, and naturally-transforming rate-to-force control with force reflection. Task completion time and manipulator work due to contract forces moment through the Cartesian displacements were the basis for comparison. The control architecture is completely implemented. Experimental results displayed no clear differences among the control modes; this indicates that a reduction in system time delays and more precise gain tuning are needed.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1998
- Accession Number
- ADA411653
Entities
People
- Mark A. Murphy
- Robert L. Williams Iii
Organizations
- Ohio University