Bilateral control for fine processing using virtual grasping/manipulating robots

Ryogo Kubo, Kouhei Ohnishi

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

In this paper, a bilateral control method using virtual grasping/manipulating robots is proposed. In the proposed system, a human operator handles two master robots, and two slave robots grasp and manipulate an object cooperatively at remote location. Concretely speaking, one master robot is utilized only for controlling manipulating motion of slave robots and the other is utilized only for controlling grasping motion of slave robots. Virtual grasping/manipulating robots are defined for making the connection between the motion of master grasping/manipulating robots and the motion of two slave robots. The motion of virtual grasping/manipulating robots is calculated in grasping/manipulating mode space, respectively. Discrete Fourier transform (DFT) matrices are utilized as matrices transforming each robot space into grasping/manipulating mode space. Bilateral control is realized in virtual grasping/manipulating mode space. The proposed bilateral controller, which decomposes grasping/manipulating motion, makes it possible to move an object precisely and to grasp an object with suitable grasping force. 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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ5258-5263
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11月 62006 11月 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
国/地域France
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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