Inspection of interference in a decentralized control of redundant master-slave system

研究成果: Conference contribution

抄録

In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.

元の言語English
ホスト出版物のタイトルIET Conference Publications
出版者Institution of Engineering and Technology
2015
エディションCP676
出版物ステータスPublished - 2015
イベント5th Asia International Symposium on Mechatronics, AISM 2015 - Guilin, China
継続期間: 2015 10 72015 10 10

Other

Other5th Asia International Symposium on Mechatronics, AISM 2015
China
Guilin
期間15/10/715/10/10

Fingerprint

Decentralized control
Inspection
Position control
Robots
Force control
Manipulators
Experiments
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

Oiki, T., & Murakami, T. (2015). Inspection of interference in a decentralized control of redundant master-slave system. : IET Conference Publications (CP676 版, 巻 2015). Institution of Engineering and Technology.

Inspection of interference in a decentralized control of redundant master-slave system. / Oiki, T.; Murakami, Toshiyuki.

IET Conference Publications. 巻 2015 CP676. 編 Institution of Engineering and Technology, 2015.

研究成果: Conference contribution

Oiki, T & Murakami, T 2015, Inspection of interference in a decentralized control of redundant master-slave system. : IET Conference Publications. CP676 Edn, 巻. 2015, Institution of Engineering and Technology, 5th Asia International Symposium on Mechatronics, AISM 2015, Guilin, China, 15/10/7.
Oiki T, Murakami T. Inspection of interference in a decentralized control of redundant master-slave system. : IET Conference Publications. CP676 版 巻 2015. Institution of Engineering and Technology. 2015
Oiki, T. ; Murakami, Toshiyuki. / Inspection of interference in a decentralized control of redundant master-slave system. IET Conference Publications. 巻 2015 CP676. 版 Institution of Engineering and Technology, 2015.
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abstract = "In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.",
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AB - In this research, a unified control of autonomous control and bilateral control in redundant master-slave system is proposed. 2 DOF planar manipulator is used as a master robot, and 4 DOF planar manipulator is used as a slave robot. Autonomous control is applied to the 1st and 2nd link of slave robot, and bilateral control is applied to 3rd and 4th link of slave robot. In the proposed method, position control and force control are applied to each subsystem, and the influence on force response by the interference of position control and force control may happen. Experiments are conducted to confirm the influence by comparing the force response of conventional master-slave bilateral controller and proposed method. Furthermore, experiment which is introducing impedance control in place of position control is conducted.

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