• DocumentCode
    354272
  • Title

    Estimated force emulation for space robot using neural networks

  • Author

    Jun, Zhuang ; Sun, Zengqi ; Sun, Fuchun ; Liu, Jianping

  • Author_Institution
    Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
  • Volume
    2
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    1367
  • Abstract
    This paper introduces the telerobotic system estimated force emulation using neural networks. A delay-compensating 3D stereo-graphic simulator is implemented in SGI ONYX/4 RE2. The estimated force emulation can protect the real robot in time from being damaged in collision. The neural network is used to learn the mapping between the contact force error and the accommodated position command to the controller of the space robot. Finally, the controller can feel the emulated force with a two-hand 6-DOF master arm using the force feedback interface
  • Keywords
    aerospace robotics; force feedback; learning (artificial intelligence); neural nets; position control; telerobotics; 6-DOF master arm; contact force error; force feedback interface; learning; neural networks; position control; space robot; telerobotics; Delay; Emulation; Error correction; Force control; Force feedback; Neural networks; Orbital robotics; Protection; Robot control; Telerobotics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
  • Conference_Location
    Hefei
  • Print_ISBN
    0-7803-5995-X
  • Type

    conf

  • DOI
    10.1109/WCICA.2000.863468
  • Filename
    863468
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=354272