TY - GEN
T1 - An approach to expansion of workspace motion in master-slave control system
AU - Komuta, Kiyotoshi
AU - Murakami, Toshiyuki
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
KW - Extending working area
KW - Force feedback
KW - Master-slave system
KW - Two-wheel driven mobile manipulator
KW - Virtual impedance
UR - http://www.scopus.com/inward/record.url?scp=84872935898&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872935898&partnerID=8YFLogxK
U2 - 10.1109/IECON.2012.6389158
DO - 10.1109/IECON.2012.6389158
M3 - Conference contribution
AN - SCOPUS:84872935898
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2650
EP - 2655
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -