CONVERSION OF A SERVOMANIPULATOR FROM ANALOG TO DIGITAL CONTROL.

S. M. Killough, H. L. Martin, W. R. Hamel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

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 languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages734-739
Number of pages6
ISBN (Print)0818606959
StatePublished - 1986

Fingerprint

Dive into the research topics of 'CONVERSION OF A SERVOMANIPULATOR FROM ANALOG TO DIGITAL CONTROL.'. Together they form a unique fingerprint.

Cite this