Summary
The paper gives a brief review of the development of force-feedback in telemanipulators as they have progressed from mechanically linked assemblies to computer augmented generalized control systems.
An experimental facility is described based on three planar three degree of freedom linkages consisting of a master arm articulated at shoulder, elbow and wrist, a kinematically similar slave arm, and a second slave arm incorporating a kinematically dissimilar pantograph mechanism. Force sensors strategically positioned provided feedback in each of the two modes of operation via computer-based transformations between the measured forces and the master arm.
A series of tests based on the peg-in-the-hole task was conducted to investigate the effect of the leading parameters on performance as measured by time to completion. It was found that the force-reflection ratio could be optimized for the task in hand.
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© 1987 Hermes, Paris
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Bicker, R., Maunder, L. (1987). Force Feedback in Telemanipulators. In: Morecki, A., Bianchi, G., Kędzior, K. (eds) RoManSy 6. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-6915-8_25
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DOI: https://doi.org/10.1007/978-1-4684-6915-8_25
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