An approach to high operational control of a slave mobile robot by master touch manipulation

Hiroki Nagayama, Toshiyuki Murakami

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

Abstract

The master-slave system is expected to be a key technology for the next generation of robots. Indeed, a master-slave system will be utilized in many fields to perform tasks remotely in unknown environments. However, it is difficult for the operator to lead the slave robot to goal position correctly in case of operating the slave robot in remote location since the operator cannot recognize three-dimensional space correctly. The purpose of this research is realization of high operational control of teleoperated mobile robot. With such system, the operator need not spatial recognition, and the proposed system does not depend on the operator's skill, and also the proposed system can be applied to unknown environment. In the proposed system, the operator input the goal position by touch input on the screen which show the camera image. After touch input, the slave robot control the manipulator which mounts laser pointer and illuminates goal position. Then, the slave robot recognizes laser point by stereo camera and move to the goal position automatically. In this research, we utilize the touch input device as the master robot and the two-wheeled robot as the slave robot. Simulation is conducted to verify the validity of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages557-562
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Mobile Robot
Mobile robots
Manipulation
Robot
Robots
Operator
Camera
Laser
Cameras
Unknown
Input Devices
Robot Control
Manipulator
Lasers
Manipulators
Verify
Three-dimensional
Simulation

Keywords

  • Master-slave system
  • Operability
  • Stereo camera
  • Touch Input
  • Two-wheeled robot
  • Visual servoing

ASJC Scopus subject areas

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

Cite this

Nagayama, H., & Murakami, T. (2014). An approach to high operational control of a slave mobile robot by master touch manipulation. In International Workshop on Advanced Motion Control, AMC (pp. 557-562). [6823342] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823342

An approach to high operational control of a slave mobile robot by master touch manipulation. / Nagayama, Hiroki; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 557-562 6823342.

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

Nagayama, H & Murakami, T 2014, An approach to high operational control of a slave mobile robot by master touch manipulation. in International Workshop on Advanced Motion Control, AMC., 6823342, Institute of Electrical and Electronics Engineers Inc., pp. 557-562, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823342
Nagayama H, Murakami T. An approach to high operational control of a slave mobile robot by master touch manipulation. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 557-562. 6823342 https://doi.org/10.1109/AMC.2014.6823342
Nagayama, Hiroki ; Murakami, Toshiyuki. / An approach to high operational control of a slave mobile robot by master touch manipulation. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 557-562
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