Supervisory Manipulation for Assembling Mechanical Parts While Compensating for Relative Motion.
MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING
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The need has increased for operating vehicles and devices far from the surface of the earth. These operations are so difficult that a man is required to be within the systems to make some decisions. These manned systems are divided into two categories one is direct control and another is supervisory control. This research is to develop and demonstrate the capability for a manipulator system to automatically compensate for random motion of the object being manipulated. This is done by means of a computer and a measurement arm, a multi-degree-of-freedom position sensor independent of the manipulator itself. Following preliminary experiments which presupposed perfect measurement, we developed the position sensor and the Jacobian matrices of approximation necessary to interject and transform the measurement to enable control. This report describes the interaction of the 6 degree-of-freedom sensor, and the Jacobian matrices of first order approximation. Evaluation tests were done for simple motions. As the result of the tests, we found the errors acceptable, and believe that this technique is useful for this type of compensation. Keywords Remote control, Man machine systems. Theses.
- Human Factors Engineering and Man Machine Systems