Abstract
Expertise in computer control of force-reflecting master/slave servomanipulators has been developed as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software package has been developed. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, and indexing features, and potentially increased reliability. The authors describe the original system, the digital control hardware implementation, the software controls, and test results, which reveal improvements in force-reflection quality. Related applications of the control system developed are also discussed.
Original language | English |
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Title of host publication | Unknown Host Publication Title |
Publisher | IEEE |
Pages | 734-739 |
Number of pages | 6 |
ISBN (Print) | 0818606959 |
State | Published - 1986 |