An approach to bilateral control strategy for nonidentical master-slave system

Hideaki Tai, Toshiyuki Murakami

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

4 Citations (Scopus)

Abstract

This paper aims at a complex and multifunctional motion control by teleoperation safely and easily. In order to accomplish this purpose, the bilateral control system for nonidentical master-slave system is proposed in this paper. Slave system is dual armed mobile manipulator which has redundancy, high mobility, and workability to achieve complex motion. On the other hand, haptic joystick is used as master system so that the operator can use it easily. Bilateral teleoperation with such system is achieved by multilateral control virtually. This paper also proposes the control index named "motion initiative (MI)". MI varies depending on the relative distance between slave and target object and external force. Based on the change of MI, the weighting factor of slave system also varies and it makes operator to control slave robot easily and safely. The simulation was carried out to verify the validity of the proposed scheme.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages4173-4178
Number of pages6
DOIs
Publication statusPublished - 2009
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

Fingerprint

Remote control
Motion control
Manipulators
Redundancy
Robots
Control systems

Keywords

  • Dual armed mobile manipulator
  • Haptic joystick
  • Motion control
  • Motion initiative
  • Multilateral control
  • Redundancy

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Tai, H., & Murakami, T. (2009). An approach to bilateral control strategy for nonidentical master-slave system. In IECON Proceedings (Industrial Electronics Conference) (pp. 4173-4178). [5415082] https://doi.org/10.1109/IECON.2009.5415082

An approach to bilateral control strategy for nonidentical master-slave system. / Tai, Hideaki; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). 2009. p. 4173-4178 5415082.

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

Tai, H & Murakami, T 2009, An approach to bilateral control strategy for nonidentical master-slave system. in IECON Proceedings (Industrial Electronics Conference)., 5415082, pp. 4173-4178, 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal, 09/11/3. https://doi.org/10.1109/IECON.2009.5415082
Tai H, Murakami T. An approach to bilateral control strategy for nonidentical master-slave system. In IECON Proceedings (Industrial Electronics Conference). 2009. p. 4173-4178. 5415082 https://doi.org/10.1109/IECON.2009.5415082
Tai, Hideaki ; Murakami, Toshiyuki. / An approach to bilateral control strategy for nonidentical master-slave system. IECON Proceedings (Industrial Electronics Conference). 2009. pp. 4173-4178
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