Bilateral control for 4-DOF manipulator with a tendon-driven spherical joint mechanism

Keita Shimamoto, Daiki Suzuki, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Master-slave robots with transmission of force sensation have gotten a lot of attention in the supporting surgery or searching danger area. The operators feel force sensation acting on slave robots by handling master robots. The transmission is realized by 4ch-bilateral control. In order to put the system into the practical use, bilateral control for multi degrees-of-freedom robots with lightweight mechanisms is desired. Therefore, in this research, bilateral control for 4 degrees-of-freedom manipulator with a tendon-driven spherical joint mechanism in the edge of 2 degrees-of-freedom parallel link manipulator is proposed. In addition, tension control is utilized to avoid strings from slacking. The experimental results show that the transmission of force sensation with the manipulator was realized.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ290-295
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

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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