Cart (Loading....) | Create Account
Close category search window
 

Design of a telerobotic controller with joint torque sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.