This paper describes a systems approach to improving the performance of a telerobotic testbed. The testbed is the Force-Reflecting Interfaces to Telemanipulators Testing Systems (FITTS), at the Harry G. Armstrong Aerospace Medical Research Laboratory. First, the testbed hardware is described, along with an overview of the system’s communications paths. Next, the previously-determined forward kinematics for the MBA exoskeleton are outlined. Then the optimization of these kinematic equations is given. The paper also details efficient forward and inverse kinematic solutions for the Merlin industrial robots, using the method of wrist partitioning. The utility of these solutions in toto is that the interfacing of the two systems, given sufficient communications bandwidth between the MBA exoskeleton and the control computer, can now achieve the 4 ms compute time attainable by the Merlin hardware. This optimization puts the FITTS hardware at a milestone stage of completion, as the system is now capable of operating at its peak as a unilateral telerobotic testbed. Finally, future steps to extend FITTS for force reflection research are specified. Teleoperation, Robotics, Remote Control, Human Factors, Force Reflection.

(далее…)

Категория: Научные статьи | Нет комментариев »

An eccentric motion motor includes a hollow cylindrical stator in which is positioned a cylindrical armature in rolling engagement with the stator. Elongate conductive strips are disposed in the inside wall of the hollow of the stator to extend substantially the length thereof, with the strips being circumferentially spaced about the stator hollow. The conductive strips are coupled to a commutator voltage source which applies a voltage to successive ones of the conductive strips to produce an electrostatic force which attracts the armature and causes it to roll in the hollow of the stator. The armature may be made either of a conductive material or a dielectric material.

(далее…)

Категория: Патенты | Нет комментариев »