DocumentCode
1347048
Title
Design of the Langley laboratory telerobotic manipulator
Author
Hankins, Walter W., III ; Mixon, Randolph W.
Author_Institution
NASA Langley Res. Center, Hampton, VA, USA
Volume
10
Issue
5
fYear
1990
Firstpage
16
Lastpage
19
Abstract
NASA Langley Research Center has developed a novel, precision, dual-arm telerobotic manipulator system which has seven degrees of freedom in each arm. As delivered, a master-slave control mode is implemented from a pair of kinematically identical master arms with force reflection; however, robotic or manual control from a variety of different input devices can be implemented. The Langley laboratory telerobotic manipulator (LTM), its installation at Langley, and plans for a comparative evaluation study of various control input devices to the system are described. A discussion is presented of the objectives and philosophy of the design and the control electronics.<>
Keywords
design engineering; robots; telecontrol equipment; Langley Research Center; NASA; design criteria; dual arm system; laboratory telerobotic manipulator; master-slave control mode; Arm; Force control; Human factors; Laboratories; Manipulators; Master-slave; NASA; Reflection; Robots; Telerobotics;
fLanguage
English
Journal_Title
Control Systems Magazine, IEEE
Publisher
ieee
ISSN
0272-1708
Type
jour
DOI
10.1109/37.60417
Filename
60417
Link To Document