An approach to expansion of workspace motion in master-slave control system

Kiyotoshi Komuta, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

The master-slave system is expected to be a key technology for the next generation of robots. Indeed, in many fields of operation, a master-slave system is needed to remotely perform tasks in unknown environments. However, in past researches, master-slave systems consisted of the ground based devices with limited workspaces. In this paper, the teleoperation system consists of a 3 DOF haptic device and a two-wheel driven mobile manipulator. In this system, the working areas of these robots are different. To realize the expansion of the working area of this system, in this paper, a master-slave control by force feedback based virtual impedance controller with scaling ratio and the algorithm extending the working area of the slave robot were proposed. In this paper, the effect of the scaling ratio in the master-slave controller is analyzed by using 'Reproducibility' and 'Operationality'. Furthermore, experimental results show the efficiency of the proposed method.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages2650-2655
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

Keywords

  • Extending working area
  • Force feedback
  • Master-slave system
  • Two-wheel driven mobile manipulator
  • Virtual impedance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'An approach to expansion of workspace motion in master-slave control system'. Together they form a unique fingerprint.

Cite this