Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller

Whee-Kuk Kim; Pat Bevill; Delbert Tesar

doi:10.1117/12.25444

1 February 1991 Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller

Whee-Kuk Kim, Pat Bevill, Delbert Tesar

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25444
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Most available manual controllers which are used in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size heavy weight high cost low magnitude of reflecting-force lack of smoothness insufficient transparency and simplified architectures. A compact smooth lightweight portable universal manual controller could provide a markedly improved level of transparency and be able to drive a broad spectrum of slave manipulators. This implies that a single stand-off position could be used for a diverse population of remote systems and that a standard environment for training of operators would result in reduced costs and higher reliability. In the implementation presented in this paper a parallel 3 degree-of-freedom (DOF) spherical structure (for compactness and reduced weight) is combined with high gear-ratio reducers using a force control algorithm to produce a " power steering" effect for enhanced smoothness and transparency. The force control algorithm has the further benefit of minimizing the effect of the system friction and non-linear inertia forces. The fundamental analytical description for the spherical force-reflecting manual controller such as forward position analysis reflecting-force transformation and applied force control algorithm are presented. Also a brief description of the system integration its actual implementation and preliminary test results are presented in the paper.

Citation Download Citation

Whee-Kuk Kim, Pat Bevill, and Delbert Tesar "Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25444

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available