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Erschienen in:
2015 | OriginalPaper | Buchkapitel
3. A Command Splitter for a Mini–Macro-Manipulator for Online Telemanipulation
verfasst von : Amar Banerji
Erschienen in: Systems Thinking Approach for Social Problems
Verlag: Springer India
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Abstract
A mini–macro-system consists of two manipulators cascaded to each other, one of them being much lighter than the other. The advantage is that the lighter manipulator which has better dynamic response can quickly respond to the command and the sluggish partner can start contributing when it is ready. The control systems of both the manipulators are good enough to execute any joint motion independently, but they need precise individual reference velocity signals for all the joints in real time so that it could move all of them appropriately even in cascaded condition. This paper presents an algorithm to compute the joint rates in real time so that both the manipulators cooperate with each other in moving the end-effector in best possible way.