Abstract
In this paper, a bilateral control method using virtual grasping/manipulating robots is proposed. In the proposed system, a human operator handles two master robots, and two slave robots grasp and manipulate an object cooperatively at remote location. Concretely speaking, one master robot is utilized only for controlling manipulating motion of slave robots and the other is utilized only for controlling grasping motion of slave robots. Virtual grasping/manipulating robots are defined for making the connection between the motion of master grasping/manipulating robots and the motion of two slave robots. The motion of virtual grasping/manipulating robots is calculated in grasping/manipulating mode space, respectively. Discrete Fourier transform (DFT) matrices are utilized as matrices transforming each robot space into grasping/manipulating mode space. Bilateral control is realized in virtual grasping/manipulating mode space. The proposed bilateral controller, which decomposes grasping/manipulating motion, makes it possible to move an object precisely and to grasp an object with suitable grasping force. The validity of the proposed method is shown by the experimental results.
| Original language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 5258-5263 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2006 |
| Event | IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: 2006 Nov 6 → 2006 Nov 10 |
Other
| Other | IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics |
|---|---|
| Country | France |
| City | Paris |
| Period | 06/11/6 → 06/11/10 |
Fingerprint
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Bilateral control for fine processing using virtual grasping/manipulating robots. / Kubo, Ryogo; Ohnishi, Kouhei.
IECON Proceedings (Industrial Electronics Conference). 2006. p. 5258-5263 4153316.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Bilateral control for fine processing using virtual grasping/manipulating robots
AU - Kubo, Ryogo
AU - Ohnishi, Kouhei
PY - 2006
Y1 - 2006
N2 - In this paper, a bilateral control method using virtual grasping/manipulating robots is proposed. In the proposed system, a human operator handles two master robots, and two slave robots grasp and manipulate an object cooperatively at remote location. Concretely speaking, one master robot is utilized only for controlling manipulating motion of slave robots and the other is utilized only for controlling grasping motion of slave robots. Virtual grasping/manipulating robots are defined for making the connection between the motion of master grasping/manipulating robots and the motion of two slave robots. The motion of virtual grasping/manipulating robots is calculated in grasping/manipulating mode space, respectively. Discrete Fourier transform (DFT) matrices are utilized as matrices transforming each robot space into grasping/manipulating mode space. Bilateral control is realized in virtual grasping/manipulating mode space. The proposed bilateral controller, which decomposes grasping/manipulating motion, makes it possible to move an object precisely and to grasp an object with suitable grasping force. The validity of the proposed method is shown by the experimental results.
AB - In this paper, a bilateral control method using virtual grasping/manipulating robots is proposed. In the proposed system, a human operator handles two master robots, and two slave robots grasp and manipulate an object cooperatively at remote location. Concretely speaking, one master robot is utilized only for controlling manipulating motion of slave robots and the other is utilized only for controlling grasping motion of slave robots. Virtual grasping/manipulating robots are defined for making the connection between the motion of master grasping/manipulating robots and the motion of two slave robots. The motion of virtual grasping/manipulating robots is calculated in grasping/manipulating mode space, respectively. Discrete Fourier transform (DFT) matrices are utilized as matrices transforming each robot space into grasping/manipulating mode space. Bilateral control is realized in virtual grasping/manipulating mode space. The proposed bilateral controller, which decomposes grasping/manipulating motion, makes it possible to move an object precisely and to grasp an object with suitable grasping force. The validity of the proposed method is shown by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=50249087075&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249087075&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347981
DO - 10.1109/IECON.2006.347981
M3 - Conference contribution
AN - SCOPUS:50249087075
SN - 1424401364
SN - 9781424401369
SP - 5258
EP - 5263
BT - IECON Proceedings (Industrial Electronics Conference)
ER -