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ROMANSY 11 pp 391–398Cite as

Application of Force Control in Telerobotics

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Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 381))

Abstract

A force reflecting telerobotic system has been developed at the University of Newcastle upon Tyne which incorporates a man-machine interface that permits the user to configure the ‘slave robot’ to be operated manually, as a conventional teleoperator, or autonomously as a sensor driven robot [1]. The system uses a Puma 260 robot as a force-reflecting hand controller, and a Puma 762 industrial robot has been configured to operate as the ‘slave’. A network of parallel processors is used for both high and low level control. The implementation permits the operator to manually control the position (and/or velocity) of selected axes, whilst the remaining axes are controlled autonomously, using force control, in either world or tool coordinates.

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References

  1. TELEMAN Programme on remote handling in hazardous or disordered nuclear environments, Commission of the European Communities, ‘TELEMAN TM48 Intelligent Nuclear Gantry Robot Integrated Demonstrator (INGRID)’, 1995

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  2. Ow SM, ‘Task Based Shared Compliant Control of a Telerobotic System’, University of Newcastle upon Tyne, PhD Thesis, to be submitted in March 1996.

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  3. Hayati S and Venkataraman S T, Design and implementation of a robot control system with traded and shared control’, Proc. of 1989 IEEE Int. Conf. on Robotics and Automation.

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Author information

Authors and Affiliations

  1. University of Newcastle upon Tyne, Newcastle upon Tyne, UK

    R. Bicker, D. Glennie & Ow Sin Ming

Authors
  1. R. Bicker
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  2. D. Glennie
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  3. Ow Sin Ming
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Editor information

Editors and Affiliations

  1. Inst. of Aeronautics and Appl. Mech., Warsaw University of Technology, Nowowiejska 24, 00-665, Warszawa, Poland

    Adam Morecki  & Cezary Rzymkowski  & 

  2. CISM, Palazzo del Torso, Piazza Garibaldi 18, 33100, Udine, Italy

    Giovanni Bianchi

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© 1997 Springer-Verlag Wien

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Bicker, R., Glennie, D., Ming, O.S. (1997). Application of Force Control in Telerobotics. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_45

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  • DOI: https://doi.org/10.1007/978-3-7091-2666-0_45

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82903-5

  • Online ISBN: 978-3-7091-2666-0

  • eBook Packages: Springer Book Archive

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