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A pantograph linkage parallel platform master hand controller for force-reflection

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2 Author(s)
Long, G.L. ; Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA ; Collins, C.L.

The authors discuss the kinematics of a serial/parallel six degree-of-freedom generalized hand controller for teleoperation. A description of the device is presented with equations needed for control of a remote manipulator. The pantograph linkages extend the workspace of traditional platform designs, while the parallel structure provides force regulation at the platform that is well suited for force-feedback to a teleoperator. The generalized teleoperator controller described will be part of a larger telerobotics system comprising a radio-controlled robotic arm module with appropriate end-effectors and a general-purpose supervisory controlled system. The robotic system is planned for remote handling of toxic solid and liquid debris

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992