Development of Object-Based Teleoperator Control for Unstructured Applications

Author: Hyunki Cho
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Publisher: Storming Media
Binding: Spiral-bound
ISBN: 1423584023
Category: Programming
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Development of Object-Based Teleoperator Control for Unstructured Applications

This is a AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH report procured by the Pentagon and made available for public release. Programming books Development of Object-Based Teleoperator Control for Unstructured Applications pdf. It has been reproduced in the best form available to the Pentagon. It is not spiral-bound, but rather assembled with Velobinding in a soft, white linen cover. The Storming Media report number is A895913. The abstract provided by the Pentagon follows: For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. Download books pdf via mediafire, 4shared, rapidshare.

Download Development of Object-Based Teleoperator Control for Unstructured Applications

It has been reproduced in the best form available to the Pentagon. It is not spiral-bound, but rather assembled with Velobinding in a soft, white linen cover. The Storming Media report number is A895913. The abstract provided by the Pentagon follows: For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. The suggested concept in this thesis is object based teleoperator control which provides an intuitive way to control the robot in terms of the grasped object and reduces the operator's conceptual constraints. The general control law is developed using a hierarchical control structure, i.e., human interface I gross motion control level in teleoperation control and fine motion control/object grasp stability in autonomous control. The gross motion control is required to provide the position/orientation of the Super Object (SO), and the sufficient grasping force to the fine motion control. impedance control is applied to the gross motion control to respond to the environmental forces. The fine motion control consists of serially connecting the finger in position control and the Fingertip Actuation System (FAS) in force control. The FAS has a higher bandwidth response than does the finger actuation system and operates near the center of its joint range. The finger motion controller attempts not only to track the displacement of the FAS but also to provide an FAS centering action. Simulation experiments in both gross and fine motion control are performed. The integrated gross / flue motion control is implemented using the planar configuration of PUMA 560. The results show that the desired contact force can be maintained in the direction of FAS motion. Download free Development of Object-Based Teleoperator Control for Unstructured Applications pdf