Separated master system to decrease operational force of bilateral control

Haruya Sato, Takahiro Mizoguchi, Fumiya Mitome, Kouhei Ohnishi

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

Abstract

This paper proposes separated master system to decrease operational force of bilateral control in free motion. Operational force in bilateral control is not desirable because it prevent accurate reproduction of remote environmental force. Thus to decrease operational force is important. The master system consists of a grip part and an actuator part. A human operator manipulates the grip part. In free motion, both the actuator part of master robot and the slave robot track the grip part. With separating actuator, human operator feels fewer inertial force and friction when in free motion. When the slave robot contacts an object, the grip part contacts the actuator part and the operator feels reaction force from the object. The actuators tracked grip motion and the law of action and reaction was realized in experiment.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Sato, H., Mizoguchi, T., Mitome, F., & Ohnishi, K. (2012). Separated master system to decrease operational force of bilateral control. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197102] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197102