Bilateral control with 2-DOF haptic spherical interface

Kento Watanabe, Keita Shimamoto, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In this paper, bilateral control with two degrees of freedom (2-DOF) haptic spherical interface is proposed. There is much research about the mechanical structure of the haptic interface to realize large movable range. However, these are not suitable for the interface of the open environment. In addition, to achieve wide movable range, there are some problems that the robot gets large and the large inertia deteriorates the operationality according to the movable range. In this paper, by utilizing a sphere as a interface, the interface has the two degrees of freedom and the unlimited movable range. The interface is utilized as the master robot. Meanwhile, an X-Y stage is utilized as the slave robot. The number of the actuators, the actuator type, and the structures are different between master-slave robots. Hence, bilateral control considering the differences is proposed.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages4394-4399
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Watanabe, K., Shimamoto, K., & Ohnishi, K. (2012). Bilateral control with 2-DOF haptic spherical interface. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 4394-4399). [6389181] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389181