제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

The teleautonomous control of an integrated FRHC-PUMA telerobot control system

  • Lee, Jin-S. (Department of Electrical Engineering POSTECH) ;
  • Kan, Edwin-P. (Jet Propulsion Laboratory California Institute of Technology)
  • Published : 1990.10.01
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Abstract

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

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