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Achieving impedance objectives in robot teleoperation

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2 Author(s)
Carignan, C.R. ; Space Syst. Lab., Maryland Univ., College Park, MD, USA ; Akin, D.L.

This work describes the experimental application of impedance control to a seven joint revolute manipulator built for neutral buoyancy operation. Compensator design methodologies previously applied to a single joint are extended to the full manipulator and tested in 1 g tasks. The controller was configured to mimic three useful modes at the end-effector: accommodation control, spring-dashpot control, and inertial mode. Simulated parameter errors were negligible even for outer force loop rates as low as 40 Hz. Hard contact tasks typically required damping augmentation of 5-10 times the freespace values to maintain stable contact. Preliminary experiments indicate that this controller can be a useful tool in fulfilling future objectives in space telerobotic operations

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997