A bilateral controller design method for master-slave robots with different DOF

Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

In this paper, a bilateral controller for masterslave robots with different DOF (degrees of freedom) is designed based on concept of multilateral control. A multilateral control system is a kind of bilateral control systems, and it is composed of multi-master and multi-slave robots, e.g. two master robots and three slave robots. It is shown that multilateral control, including bilateral control, is realized by using mode transformation by DFT (discrete Fourier transform). In addition, decoupling of each mode and transparency for multilateral control are discussed. Moreover, multilateral control is applied to a bilateral grasping control system. In this system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by the experimental results.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ328-333
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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