A bilateral control method for master-slave grasping and manipulation system

Koichi Nishimura, Kouhei Ohnishi

研究成果: Conference contribution

抄録

A human operator generally feels the gravity of a grasped object through a bilateral grasping system. It interferes with his manipulation of the object. This paper discusses a master-slave grasping and manipulation system. Different bilateral controllers are applied in the horizontal axis in which gravity doesn't act and the vertical axis in which gravity acts. The bilateral controller in the horizontal axis realizes that the operator feels reaction force added to the slave manipulators from the grasped object. In the vertical axis, we propose a method for estimation of reaction force added to the object from an environment when the object contacts with environment. The bilateral controller in the vertical axis reproduces the reaction force in master side. With this bilateral controller, the grasped object can contact with environment, and the operator feels reaction force from the environment without feeling the gravity of the object. Simulation and experimental results show the validity of the proposed method.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ3821-3826
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11 62006 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

フィンガープリント 「A bilateral control method for master-slave grasping and manipulation system」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル