Dynamic modeling used for the addition of robotic operation to the Advanced Servomanipulator teleoperator

A robotic mode has been added to the Advanced Servomanipulator (ASM), a six-degree-of-freedom master/slave teleoperator. To understand the requirements for implementation of robotics on an arm designed for teleoperation, a dynamic simulation of the ASM slave arm was developed. The ASM model and modifications of the control system for robotic operation are presented. The simulated response curves corresponded very closely to those of the actual system, indicating the qualitative validity of the model. The simulation made it possible to identify uncertain system parameters and has proven useful in adding robotic operation to the ASM