Multi-sensor based impedance control for task execution

Abstract

A unified control scheme for execution of robotic supervisory and shared control tasks using impedance control with multiple sensory inputs is presented. The control scheme has been designed to provide general Cartesian task execution capability for space telerobotics, both for contact and noncontact tasks. Multiple sensors can be utilized concurrently to enable the execution of a wide range of teleoperation, shared control, and autonomous control telerobotic tasks. Control is based on simultaneous inputs from a trajectory generator, teleoperation, dither generator, proximity sensor, and joint space joint limit and joint singularity avoidance, as well as inertia, damping and stiffness associated with impedance control and force control based on a reference force setpoint.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>