Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave

[+] Author and Article Information
J. F. Jansen, R. L. Kress, S. M. Babcock

Oak Ridge National Laboratory, Robotics & Process Systems Division, Oak Ridge, Tenn. 37831-6304

J. Dyn. Sys., Meas., Control 114(4), 641-649 (Dec 01, 1992) (9 pages) doi:10.1115/1.2897736 History: Received April 02, 1990; Revised February 24, 1992; Online March 17, 2008


The purpose of this paper is to develop a controller for a force-reflecting teleoperator system having kinematically dissimilar master and slave. The controller is a stiffness controller for both the master and the slave. A mathematical problem associated with representing orientations using Euler angles is described, and Euler parameters are proposed as a solution. The basic properties of Euler parameters are presented, specifically those pertaining to stiffness control. The stiffness controller for both the master and the slave is formulated using Euler parameters to represent orientation and a Liapunov stability proof is presented for the controller. The master portion of the control scheme is implemented on a six-degree-of-freedom master.

Copyright © 1992 by The American Society of Mechanical Engineers
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