Methods for reducing operational forces in force-sensorless bilateral control with thrust wires for two-degree-of-freedom remote robots

T. Sato, S. Sakaino, T. Yakoh

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.

Original languageEnglish
Title of host publicationHuman - Computer Systems Interaction
Subtitle of host publicationBackgrounds and Applications 2: Part 2
EditorsZdzisaw Hippe, Teresa Mroczek, Juliusz Kulikowski
Pages91-107
Number of pages17
DOIs
Publication statusPublished - 2012 Jan 1

Publication series

NameAdvances in Intelligent and Soft Computing
Volume99
ISSN (Print)1867-5662

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ASJC Scopus subject areas

  • Computer Science(all)

Cite this

Sato, T., Sakaino, S., & Yakoh, T. (2012). Methods for reducing operational forces in force-sensorless bilateral control with thrust wires for two-degree-of-freedom remote robots. In Z. Hippe, T. Mroczek, & J. Kulikowski (Eds.), Human - Computer Systems Interaction: Backgrounds and Applications 2: Part 2 (pp. 91-107). (Advances in Intelligent and Soft Computing; Vol. 99). https://doi.org/10.1007/978-3-642-23172-8_7