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Proceedings Paper

Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller
Author(s): Whee-Kuk Kim; Pat Bevill; Delbert Tesar
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Paper 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.

Paper Details

Date Published: 1 February 1991
PDF: 15 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25444
Show Author Affiliations
Whee-Kuk Kim, Univ. of Texas/Austin (United States)
Pat Bevill, Univ. of Texas/Austin and McDonnell Douglas Space Systems Co (United States)
Delbert Tesar, Univ. of Texas/Austin (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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