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 publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages557-562
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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