Bilateral master-slave control for manipulators with different configurations.

• ARAI Tatsuo

  Robotics Department, Mechanical Engineering Loboratory

• NAKANO Eiji

  Reserch Planning Office Mechanical Engineering Laboratory

Bibliographic Information

Other Title

• 異構造マニピュレータ間におけるバイラテラルマスタスレイブ制御

Abstract

A bilateral master-slave control method for manipulators with different configurations is proposed to efficiently control remote robots working in harzadous and critical fields such as nuclear power plants, space and underwater. In this method any types of master device and slave manipulator are able to be connected with each other. Therefore it has some advantages over the conventional method in which the same types of master device and slave manipulator are employed. The first advantage of this method is to improve manoeuvrability in operation, the second to increase versatility and the third to be applied to a teaching operation of complex tasks in industries. The basic experiments using three types of manipulators have been done to check the feasibility of the proposed method. In these experiments the force trackerbility, the position trackerbility of the slave and the computing time of the digital computer required for the operations of coordinates transformations, position and force servos, are examined. The results of these experiments and more practical experiments, such as a crank turning motion, show the reasonable feasibility and the broad applicability of the proposed method.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 4 (5), 469-479, 1986

  The Robotics Society of Japan

Keywords

• Robot
• Teleoperation
• Bilateral control
• Master-slave manipulator

Details

• CRID: 1390001204726176640
• NII Article ID: 130000849657
• DOI: 10.7210/jrsj.4.469
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed