A bilateral control method for master-slave grasping and manipulation system

Koichi Nishimura, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A human operator generally feels the gravity of a grasped object through a bilateral grasping system. It interferes with his manipulation of the object. This paper discusses a master-slave grasping and manipulation system. Different bilateral controllers are applied in the horizontal axis in which gravity doesn't act and the vertical axis in which gravity acts. The bilateral controller in the horizontal axis realizes that the operator feels reaction force added to the slave manipulators from the grasped object. In the vertical axis, we propose a method for estimation of reaction force added to the object from an environment when the object contacts with environment. The bilateral controller in the vertical axis reproduces the reaction force in master side. With this bilateral controller, the grasped object can contact with environment, and the operator feels reaction force from the environment without feeling the gravity of the object. Simulation and experimental results show the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages3821-3826
Number of pages6
DOIs
Publication statusPublished - 2006
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Nishimura, K., & Ohnishi, K. (2006). A bilateral control method for master-slave grasping and manipulation system. In IECON Proceedings (Industrial Electronics Conference) (pp. 3821-3826). [4153052] https://doi.org/10.1109/IECON.2006.347626