Title :
A harmonic motion generator for telerobotic applications
Author :
Bejczy, A.K. ; Szakaly, Z.F.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A manipulator motion generator algorithm is described. It is based on observations of task space trajectory profiles produced by human operators manually through a position hand controller. The algorithm, the harmonic motion generator (HMG), is formulated in the velocity-position phase space and employs harmonic (sinusoidal) base functions in that space. The reported performance results include combinations of this HMG algorithm with force-torque sensor based active compliance control and with Cartesian servo. The results are encouraging
Keywords :
position control; robots; telecontrol; Cartesian servo; force-torque sensor based active compliance control; harmonic motion generator; manipulator motion generator; task space trajectory profiles; telerobotic; velocity-position phase space; Computer displays; Control systems; Force control; Intelligent robots; Motion control; Parallel robots; Robot sensing systems; Space technology; Telerobotics; Torque control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131926
