Method for controlling master-slave robots using switching and elastic elements

Ikuo Yamano, Kenjiro Takemura, Ken Endo, Takashi Maeno

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

20 Citations (Scopus)

Abstract

A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies the mechanical force feedback to the operator. It utilizes a feature of human factor that direct displacement feedback is not as important as visual and force feedback. Effectiveness of the proposed method is confirmed by experiments using a developed simple single axis master-slave arm system. Driving test of the experimental devices and sensory evaluations are conducted. As a result, it is confirmed that the methodology successfully provides the sense of touch to the operator of the system.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1717-1722
Number of pages6
Volume2
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Other

Other2002 IEEE International Conference on Robotics and Automation
CountryUnited States
CityWashington, DC
Period02/5/1102/5/15

Fingerprint

Robots
Feedback
Human engineering
Feedback control
Experiments
Sensory analysis

Keywords

  • Control
  • Force feedback
  • Master-slave system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Yamano, I., Takemura, K., Endo, K., & Maeno, T. (2002). Method for controlling master-slave robots using switching and elastic elements. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1717-1722)

Method for controlling master-slave robots using switching and elastic elements. / Yamano, Ikuo; Takemura, Kenjiro; Endo, Ken; Maeno, Takashi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2002. p. 1717-1722.

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

Yamano, I, Takemura, K, Endo, K & Maeno, T 2002, Method for controlling master-slave robots using switching and elastic elements. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 1717-1722, 2002 IEEE International Conference on Robotics and Automation, Washington, DC, United States, 02/5/11.
Yamano I, Takemura K, Endo K, Maeno T. Method for controlling master-slave robots using switching and elastic elements. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 2002. p. 1717-1722
Yamano, Ikuo ; Takemura, Kenjiro ; Endo, Ken ; Maeno, Takashi. / Method for controlling master-slave robots using switching and elastic elements. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2002. pp. 1717-1722
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