Methods for reducing operational forces in force-sensorless bilateral control with thrust wires for two-degree-of-freedom remote robots

T. Sato, S. Sakaino, T. Yakoh

研究成果: Chapter

抄録

In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.

本文言語English
ホスト出版物のタイトルHuman - Computer Systems Interaction
ホスト出版物のサブタイトルBackgrounds and Applications 2: Part 2
編集者Zdzisaw Hippe, Teresa Mroczek, Juliusz Kulikowski
ページ91-107
ページ数17
DOI
出版ステータスPublished - 2012 1 1

出版物シリーズ

名前Advances in Intelligent and Soft Computing
99
ISSN(印刷版)1867-5662

ASJC Scopus subject areas

  • Computer Science(all)

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