Efficient Coordination of an Anthropomorphic Telemanipulation System

摘要

This report documents the development of coordination algorithms for controlimplementation of an anthropomorphic telemanipulation system presently at Wright-Patterson Air Force Base. The telemanipulation system, which is to be used as a research platform in facilitating studies on human sensory feedback, comprises a 7 degree-of-freedom (d.o.f.) force-reflecting exoskeleton master and a 6 d.o.f. articulated slave robot. The approach taken in the development emphasizes the practical issue of computation efficiency--a primary concern for satisfactory real-time operations. The algorithms presented here have been fully tested and implemented on the system. Implementation results indicate that at least a five-fold improvement on the control sampling rate has been achieved (from 11 Hz to 62 Hz on a 68020-based VME board). Other practical issues of implementation are also discussed.