Abstract
This paper proposes an alternative control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. For a given task, a task-oriented virtual tool (or a task-oriented virtual mechanism) is designed so that it has the tool dynamics which is used as a tool and assists an operator. Then we design a controller for the tele-manipulator system which has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is greatly improved by controlling the tele-manipulator system so that the system behaves as a tool. In this paper, we discuss the total stability of the resultant system in view of passivity. Because the system satisfies the passivity condition, the total stability is guaranteed for a passive environment with unknown dynamics by assuming the passivity of a human operator. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 351-356 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 21 May 1995 → 27 May 1995 |
Bibliographical note
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