An approach to a haptics system control by mobile manipulator

Yasuaki Ise, Toshiyuki Murakami

研究成果: Paper査読

4 被引用数 (Scopus)

抄録

Ordinary bilateral system mainly discussed on the control of fixed manipulator with same structures, or macro-micro teleoperation system with small slave working area compared to the master manipulator. However, larger working area for the slave robot is preferable in order to adjust to the various tasks and conditions of the environment. Also expansion of the slave working area must be accomplished without interrupting the manipulabilty and not deteriorating the user friendly-ness. Here, we propose a bilateral system using mobile manipulator. A mobile manipulator is a manipulator mounted on a mobile platform. Thus it provides much larger workspace compared to the fixed manipulators. However this advantage makes it difficult to apply a common bilateral form with two port model because of the differences in range of movement. As a solution, only the force transmission is done to both master and slave. And by estimating the environmental information using least square method, environment information is expressed to the master manipulator. Aim of this proposal is to improve the operationally of the master system. Validity of the proposal is confirmed by simulation result.

本文言語English
ページ239-242
ページ数4
出版ステータスPublished - 2004 7月 12
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3月 252004 3月 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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