Title:
A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator

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dc.contributor.author Love, Lonnie J. en_US
dc.contributor.author Magee, David P. en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-05-18T18:09:46Z
dc.date.available 2011-05-18T18:09:46Z
dc.date.issued 1994-10
dc.description ©1994 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 1994 IEEE International Conference on Systems, Man, and Cybernetics. Humans, Information and Technology, San Antonio, TX, USA, 2-5 October 1994. en_US
dc.description DOI: 10.1109/ICSMC.1994.400011  en_US
dc.description.abstract This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the performance of a teleoperation schemes that uses long reach, flexible manipulators. This study investigates the influence of PD, PD with input shaping, and PD with modified command filtering on pick and place teleoperation tasks. Data from 90 trials using 6 operators is used in an attempt to identify any increase in performance resulting from the use of any of the above control schemes. The results of this investigation indicate an increase in performance, based upon a combination of interaction forces and task execution time, of teleoperated pick and place tasks when a flexible robot uses either PD with input shaping or PD with modified command filtering. en_US
dc.identifier.citation Lonnie J. Love, David P. Magee, and Wayne J. Book, "A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator," 1994 IEEE International Conference on Systems, Man, and Cybernetics. Humans, Information and Technology, Vol. 2, 1257-1262. en_US
dc.identifier.isbn 0-7803-2129-4
dc.identifier.uri http://hdl.handle.net/1853/38915
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Joint control algorithms en_US
dc.subject Flexible manipulators en_US
dc.subject Teleoperation en_US
dc.title A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication 45966a3c-59ea-44fc-980a-96d543c035f0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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