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 publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

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

Fingerprint

Actuators
Actuator
Decrease
Robots
Motion
Robot
Operator
Contact
Friction
Experiments
Experiment
Human
Object

ASJC Scopus subject areas

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

Cite this

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

Separated master system to decrease operational force of bilateral control. / Sato, Haruya; Mizoguchi, Takahiro; Mitome, Fumiya; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197102.

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

Sato, H, Mizoguchi, T, Mitome, F & Ohnishi, K 2012, Separated master system to decrease operational force of bilateral control. in International Workshop on Advanced Motion Control, AMC., 6197102, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197102
Sato H, Mizoguchi T, Mitome F, Ohnishi K. Separated master system to decrease operational force of bilateral control. In International Workshop on Advanced Motion Control, AMC. 2012. 6197102 https://doi.org/10.1109/AMC.2012.6197102
Sato, Haruya ; Mizoguchi, Takahiro ; Mitome, Fumiya ; Ohnishi, Kouhei. / Separated master system to decrease operational force of bilateral control. International Workshop on Advanced Motion Control, AMC. 2012.
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