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
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;
Journal_Title :
Control Systems Magazine, IEEE
