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ROMANSY 11 pp 391-398 | Cite as

Application of Force Control in Telerobotics

  • R. Bicker
  • D. Glennie
  • Ow Sin Ming
Part of the International Centre for Mechanical Sciences book series (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.

Keywords

Force Control Shared Control Slave Robot Slave Manipulator Telerobotic System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [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)’, 1995Google Scholar
  2. [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.Google Scholar
  3. [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.Google Scholar

Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • R. Bicker
    • 1
  • D. Glennie
    • 1
  • Ow Sin Ming
    • 1
  1. 1.University of Newcastle upon TyneNewcastle upon TyneUK

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