SME MS900695

THE ATLAS-8F SYSTEM INCORPORATES AUTOMATIC END EFFECTOR INTERCHANGE AND HIGH-RESOLUTION FORCE REFLECTION IN A SIX DEGREE-OF-FREEDOM, 250-POUND PAYLOAD, 110 REACH MANIPULATOR. A COMPACT MASTER CONTROL ARM AND MENU-DRIVEN LCD PENDANT PROVIDE SLAVE ARM CONTROL. THE ATLAS-8F IMPLEMENTS TRUE FORCE REFLECTION THROUGH THE COMBINATION OF FORCE AND POSITION SENSING AT EACH JOINT WITH A HIGH-SPEED, CLOSED-LOOP CONTROL ALGORITHM. THIS PAPER PRESENTS THE DESIGN BACKGROUND AND PHILOSOPHY OF THE ATLAS SYSTEM, ITS EXECUTION OF FORCE FEEDBACK IN CONTRAST TO OTHER STRATEGIES, PERFORMANCE DATA, AND DESIGN SPECIFICATIONS.

Product Details

Published:

06/01/1990

Number of Pages:

18

File Size:

1 file , 2 MB