Accession Number : ADA313738

Title :   Efficient Coordination of an Anthropomorphic Telemanipulation System.

Descriptive Note : Interim rept. Jun-Aug 93,

Corporate Author : ARMSTRONG LAB WRIGHT-PATTERSON AFB OH CREW SYSTEMS DIRECTORATE

Personal Author(s) : Huang, Ming Z.

PDF Url : ADA313738

Report Date : DEC 1993

Pagination or Media Count : 36

Abstract : This report documents the development of coordination algorithms for control implementation of an anthropomorphic telemanipulation system presently at Wright-Patterson Air Force Base. The telemanipulation system, which is to be used as a research platform in facilitating studies on human sensory feedback, comprises a 7 degree-of-freedom (d.o.f.) force-reflecting exoskeleton master and a 6 d.o.f. articulated slave robot. The approach taken in the development emphasizes the practical issue of computation efficiency--a primary concern for satisfactory real-time operations. The algorithms presented here have been fully tested and implemented on the system. Implementation results indicate that at least a five-fold improvement on the control sampling rate has been achieved (from 11 Hz to 62 Hz on a 68020-based VME board). Other practical issues of implementation are also discussed.

Descriptors :   *KINEMATICS, *MAN MACHINE SYSTEMS, *MANIPULATORS, *ALGEBRAIC GEOMETRY, ALGORITHMS, CONTROL, REAL TIME, HUMANS, ROBOTS, RATES, PLATFORMS, FEEDBACK, SAMPLING, SENSES(PHYSIOLOGY), BIOACOUSTICS, BIOENGINEERING.

Subject Categories : Computer Programming and Software
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE