Multi-sensor based impedance control for task execution

Author

Backes, Paul G.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1992

fDate

12-14 May 1992

Firstpage

1245

Abstract

A unified control scheme for execution of robotic supervisory and shared control tasks using impedance control with multiple sensory inputs is presented. The control scheme has been designed to provide general Cartesian task execution capability for space telerobotics, both for contact and noncontact tasks. Multiple sensors can be utilized concurrently to enable the execution of a wide range of teleoperation, shared control, and autonomous control telerobotic tasks. Control is based on simultaneous inputs from a trajectory generator, teleoperation, dither generator, proximity sensor, and joint space joint limit and joint singularity avoidance, as well as inertia, damping and stiffness associated with impedance control and force control based on a reference force setpoint

Keywords

aerospace control; control system synthesis; force control; mechanical variables control; robots; telecontrol; Cartesian task execution; aerospace control; autonomous control; damping; dither generator; force control; inertia; joint singularity avoidance; multisensor based impedance control; shared control; space telerobotics; stiffness; teleoperation; Control systems; Force control; Impedance; Laboratories; Motion control; Orbital robotics; Robot control; Space technology; Telerobotics; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.220078

Filename

220078