EXPERIMENTAL SYSTEM IDENTIFICATION OF FORCE REFLECTING HAND CONTROLLER

This paper describes the time-domain identification of the three translational degrees-of-freedom of a six degree-of-freedom hand controller, used to teleoperate Robonaut, a humanoid robotic assistant developed by NASA. Each axis is independently identified due to the decoupled nature of the manipulator design. Results of the identification experiments are presented, including implications of assumptions of decoupling and linearity. Future work will include identification of the rotational degrees of freedom of the FRHC gimbal, development of a linear parameter varying model, and incorporation of this model into a simulation of the bilateral teleoperation system.