A bilateral controller design method for master-slave robots with different DOF

Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi

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

9 Citations (Scopus)

Abstract

In this paper, a bilateral controller for masterslave robots with different DOF (degrees of freedom) is designed based on concept of multilateral control. A multilateral control system is a kind of bilateral control systems, and it is composed of multi-master and multi-slave robots, e.g. two master robots and three slave robots. It is shown that multilateral control, including bilateral control, is realized by using mode transformation by DFT (discrete Fourier transform). In addition, decoupling of each mode and transparency for multilateral control are discussed. Moreover, multilateral control is applied to a bilateral grasping control system. In this system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by the experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages328-333
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

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ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Kubo, R., Shimono, T., & Ohnishi, K. (2006). A bilateral controller design method for master-slave robots with different DOF. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 328-333). [4237659] https://doi.org/10.1109/ICIT.2006.372337