Bilateral control for 4-DOF manipulator with a tendon-driven spherical joint mechanism

Keita Shimamoto, Daiki Suzuki, Kouhei Ohnishi

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

2 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages290-295
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

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Keywords

  • Bilateral control
  • Manipulator
  • Multi-DOF
  • Parallel mechanisms
  • Spherical joint
  • Tendon-driven

ASJC Scopus subject areas

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

Cite this

Shimamoto, K., Suzuki, D., & Ohnishi, K. (2014). Bilateral control for 4-DOF manipulator with a tendon-driven spherical joint mechanism. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 290-295). [6823297] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823297