Image information based configuration control of redundant manipulator in bilateral system

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

Abstract

The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult because the manipulator redundancy enables to achieve infinite number of the manipulator posture. This paper focuses on a construction of bilateral system so that it assists the human operation by adjusting a configuration control of redundant manipulator. In particular, bilateral system utilizes visual information by cameras to recognize the target object of remote environment in slave. By using this camera information, the assist for the slave operation of redundant manipulator is realized without deteriorating the bilateral motion.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Keywords

  • Information and sensor fusion
  • Robotics technology
  • Robots manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Murakami, T., & Ohta, T. (2008). Image information based configuration control of redundant manipulator in bilateral system. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2250