Application of Force Control in Telerobotics
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 . 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.
KeywordsForce Control Shared Control Slave Robot Slave Manipulator Telerobotic System
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