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Coarse-fine motion coordination and control of a teleoperation system with magnetically levitated master and wrist

  • Section 7 Teleoperation
  • Conference paper
  • First Online:
Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

A novel teleoperation system was developed by equipping a conventional robot with a magnetically levitated fine-motion wrist and using an identical wrist as a master [1].

Here, the issues of control of such a fine-master, coarse-fine slave system are discussed. It is proposed that the master control the slave through a combination of position and rate control, with the conventional robot controlled in rate mode and its wrist in position mode. Kinesthetic feedback is achieved through wrist-level coordinated force control. Transparency is improved through feedforward of sensed hand forces to the master and environment forces to the slave. To maintain stability, the slave damping is controlled by the sensed environment forces. Experimental results are discussed.

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References

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, University of British Columbia, V6T 1Z4, Vancouver, BC, Canada

    S. E. Salcudean & N. M. Wong

Authors
  1. S. E. Salcudean
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  2. N. M. Wong
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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Salcudean, S.E., Wong, N.M. (1994). Coarse-fine motion coordination and control of a teleoperation system with magnetically levitated master and wrist. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027611

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  • DOI: https://doi.org/10.1007/BFb0027611

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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