Inspection of interference in a decentralized control of redundant master-slave system

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

Abstract

In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.

Original languageEnglish
Title of host publicationIET Conference Publications
PublisherInstitution of Engineering and Technology
Volume2015
EditionCP676
Publication statusPublished - 2015
Event5th Asia International Symposium on Mechatronics, AISM 2015 - Guilin, China
Duration: 2015 Oct 72015 Oct 10

Other

Other5th Asia International Symposium on Mechatronics, AISM 2015
CountryChina
CityGuilin
Period15/10/715/10/10

Fingerprint

Decentralized control
Inspection
Position control
Robots
Force control
Manipulators
Experiments
Controllers

Keywords

  • Autonomous control
  • Bilateral control
  • Decentralized control
  • Disturbance observer(DOB)
  • Redundant manipulator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Oiki, T., & Murakami, T. (2015). Inspection of interference in a decentralized control of redundant master-slave system. In IET Conference Publications (CP676 ed., Vol. 2015). Institution of Engineering and Technology.

Inspection of interference in a decentralized control of redundant master-slave system. / Oiki, T.; Murakami, Toshiyuki.

IET Conference Publications. Vol. 2015 CP676. ed. Institution of Engineering and Technology, 2015.

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

Oiki, T & Murakami, T 2015, Inspection of interference in a decentralized control of redundant master-slave system. in IET Conference Publications. CP676 edn, vol. 2015, Institution of Engineering and Technology, 5th Asia International Symposium on Mechatronics, AISM 2015, Guilin, China, 15/10/7.
Oiki T, Murakami T. Inspection of interference in a decentralized control of redundant master-slave system. In IET Conference Publications. CP676 ed. Vol. 2015. Institution of Engineering and Technology. 2015
Oiki, T. ; Murakami, Toshiyuki. / Inspection of interference in a decentralized control of redundant master-slave system. IET Conference Publications. Vol. 2015 CP676. ed. Institution of Engineering and Technology, 2015.
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AB - In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.

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