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

Hideaki Tai, Toshiyuki Murakami

Research output: Contribution to conferencePaper

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
Pages4173-4178
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
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

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

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  • Cite this

    Tai, H., & Murakami, T. (2009). An approach to bilateral control strategy for nonidentical master-slave system. 4173-4178. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415082