A posture control of redundant manipulator using image information on bilateral system

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

4 Citations (Scopus)

Abstract

In this research, we propose a construction method of bilateral system using redundant manipulator. In bilateral system, operation can be realized in narrow space and at remote plate, and the master-slave robots with redundancy are needed to operate variedly. However, human operation will be difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult. This paper expresses about a construction of bilateral system so that it assists the human operation by focusing the posture control of redundant manipulator. Furthermore, bilateral system needs the visual information by cameras to recognize the remote environment in slave. By using this camera information, the assist to the difficult operation of redundant manipulator will be realized.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOIs
Publication statusPublished - 2007
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: 2007 Sep 42007 Sep 7

Other

Other2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period07/9/407/9/7

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Keywords

  • Bilateral
  • Manipulability
  • Redundant manipulator
  • Visual servoing

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ohta, T., & Murakami, T. (2007). A posture control of redundant manipulator using image information on bilateral system. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM [4412477] https://doi.org/10.1109/AIM.2007.4412477