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Design of a telerobotic controller with joint torque sensors

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2 Author(s)
Jansen, J.F. ; Oak Ridge Nat. Lab., TN, USA ; Herndon, J.

The authors show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors, such as actuator position, actuator velocity, joint position, and joint velocity, are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e. teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990