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Development of the ORBITEC Telerobotic Control System (OTCS)
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English
Abstract
This paper describes the development of an innovative system for telerobotic control of dexterous manipulators and end-effectors. The system, known as the ORBITEC Telerobotic Control System (OTCS), provides control of position and interaction with the environment using the feedback of visual and tactile information to the operator. This approach allows for a simple, low-cost, and light-weight controller that may be integrated and used with various dexterous manipulators/end- effectors. During the development, key master controller components were designed, built and tested by ORBITEC. These included a unique, low cost miniature rotation sensor and tactile stimulators and arrays.
Authors
- Ron Teeter - Orbital Technologies Corporation Madison, Wisconsin U.S.A.
- Tom Crabb - Orbital Technologies Corporation Madison, Wisconsin U.S.A.
- Anthony Kellicut - Orbital Technologies Corporation Madison, Wisconsin U.S.A.
- Darin Kohles - Orbital Technologies Corporation Madison, Wisconsin U.S.A.
- Robert Richter - Orbital Technologies Corporation Madison, Wisconsin U.S.A.
Citation
Teeter, R., Crabb, T., Kellicut, A., Kohles, D. et al., "Development of the ORBITEC Telerobotic Control System (OTCS)," SAE Technical Paper 941445, 1994, https://doi.org/10.4271/941445.Also In
References
- Crabb, T. BachyRita, P. “Tactile Feedback in the Space Suit Glove” Final Report NASA Johnson Space Center August 1988
- Crabb, T. Vitcenda, A. “Research Investigation in Sensory Augmentation Devices” Final Presentation to NASA Johnson Space Center August 1988
- Teeter, R. Crabb, T. Phillips, P Bahr, D. Rice, E. “ORBITEC Telerobotic Control Glove (OTCG) Phase I SBIR,” Final Report to the H. G. Armstrong Medical Research Laboratory Human Systems Division AAMRWBBA United States Air Force Wright-Patterson AFB OH Orbital Technologies Corporation Madison, WI 9 March 1990
- Teeter, R. R. Crabb, T. M. Foster, R. W. Vitcenda, A. K. “MARS Technology Assessment,” Astronautics Technology Center Madison WI 16 September 1988
- Teeter, Ronald R. “Applied Research Development, and Implementation in the Area of Space Automation and Robotics,” Report to the State of Wisconsin Department of Development Astronautics Corporation of America Madison, Wisconsin September 12 1988