An approach to a haptics system control by mobile manipulator

Yasuaki Ise, Toshiyuki Murakami

Research output: Contribution to conferencePaperpeer-review

4 Citations (Scopus)

Abstract

Ordinary bilateral system mainly discussed on the control of fixed manipulator with same structures, or macro-micro teleoperation system with small slave working area compared to the master manipulator. However, larger working area for the slave robot is preferable in order to adjust to the various tasks and conditions of the environment. Also expansion of the slave working area must be accomplished without interrupting the manipulabilty and not deteriorating the user friendly-ness. Here, we propose a bilateral system using mobile manipulator. A mobile manipulator is a manipulator mounted on a mobile platform. Thus it provides much larger workspace compared to the fixed manipulators. However this advantage makes it difficult to apply a common bilateral form with two port model because of the differences in range of movement. As a solution, only the force transmission is done to both master and slave. And by estimating the environmental information using least square method, environment information is expressed to the master manipulator. Aim of this proposal is to improve the operationally of the master system. Validity of the proposal is confirmed by simulation result.

Original languageEnglish
Pages239-242
Number of pages4
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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