DocumentCode
3254263
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2032
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131926
Filename
131926
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