@inproceedings{b2525b7a96b34c0fae2971ffa0b4d499,
title = "Bilateral control for 4-DOF manipulator with a tendon-driven spherical joint mechanism",
abstract = "Master-slave robots with transmission of force sensation have gotten a lot of attention in the supporting surgery or searching danger area. The operators feel force sensation acting on slave robots by handling master robots. The transmission is realized by 4ch-bilateral control. In order to put the system into the practical use, bilateral control for multi degrees-of-freedom robots with lightweight mechanisms is desired. Therefore, in this research, bilateral control for 4 degrees-of-freedom manipulator with a tendon-driven spherical joint mechanism in the edge of 2 degrees-of-freedom parallel link manipulator is proposed. In addition, tension control is utilized to avoid strings from slacking. The experimental results show that the transmission of force sensation with the manipulator was realized.",
keywords = "Bilateral control, Manipulator, Multi-DOF, Parallel mechanisms, Spherical joint, Tendon-driven",
author = "Keita Shimamoto and Daiki Suzuki and Kouhei Ohnishi",
year = "2014",
month = jan,
day = "1",
doi = "10.1109/AMC.2014.6823297",
language = "English",
isbn = "9781479923243",
series = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "290--295",
booktitle = "2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014",
note = "2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 ; Conference date: 14-03-2014 Through 16-03-2014",
}