Design of a telerobotic controller with joint torque sensors using 2-port network theory.

摘要

The purpose of this paper is to show how to design a joint controller for a telerobotic system when joint torque sensors are available based on 2-port network theory. Mechanical manipulators with high levels of friction are assumed in this study. Very high levels of friction for the master have been reduced using high-gain feedback while avoiding limit cycles. Finally, the results are applied to a telerobotic system built for NASA and called the Laboratory Telerobotic Manipulator (LTM). 4 refs., 2 figs. (ERA citation 15:035291)