Stiffness control of teleoperators with redundant, dissimilar kinematics.

摘要

This paper addresses the problem of dissimilar kinematic teleoperator systems. Since the next generation of teleoperator systems will likely include dissimilar kinematics, a workable control scheme compatible with modern microprocessor computing capability is needed. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. Due to the ongoing nature of this research and limited space allowed, only a brief summary will be given concerning the overall control strategy; instead, the master controller and orientation representation for both the master and slave will be the main focus of this paper. 10 refs., 1 fig.