Improvement of free motion operability for slave robot with underactuated joint in bilateral system

Kiyotoshi Komuta, Toshiyuki Murakami

研究成果: Article査読

1 被引用数 (Scopus)

抄録

The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. In order to solve this problem, a two-wheel driven mobile manipulator is used as a slave robot in this research. This robot has excellent mobility, and it can turn on the spot and overcome a step. However, the robot is unstable because it lacks casters. If the robot tends to be unstable, it naturally cannot achieve bilateral control. Therefore, in this study, a method that takes into considering the stability of the two-wheel driven mobile manipulator is proposed. The experimental results confirm the efficiency of the proposed method.

本文言語English
ページ(範囲)771-779
ページ数9
ジャーナルieej transactions on industry applications
133
8
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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