Realization of virtual force sensation through bilateral teleoperation

Hideyuki Kobayashi, Kouhei Ohnishi

研究成果: Paper

6 引用 (Scopus)

抜粋

Recent machines are hoped to have haptic ability to work in open environment where it changes dynamically. Haptics is a technology for touching an object. Nowadays, teleoperation is utilized in many areas such as medical care and space exploration. Teleoperation system enables operator to undertake precisework in such inaccessible or hazardous environment. Among much research about teleoperation, bilateral teleoperation is effective to reproduce the force sensation of contact force at master side. The aim of bilateral teleoperation is to reproduce the force sensation at master side. However, to reproduce the force sensation of contact force exactly is not always desired. The aim of this paper is to reproduce the virtual force sensation at master side. Operator receives the reaction force from not the real environment but the setup environmental model. Operator can design the setup environmental model arbitrarily, as long as the whole system holds stability. Master robot interacts with the setup environmental model and slave robot interacts with the real environment. To verify the validity of the proposed method, some simulations and experiments are performed.

元の言語English
ページ323-328
ページ数6
DOI
出版物ステータスPublished - 2006 11 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3 272006 3 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
Turkey
Istanbul
期間06/3/2706/3/29

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

    Kobayashi, H., & Ohnishi, K. (2006). Realization of virtual force sensation through bilateral teleoperation. 323-328. 論文発表場所 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631678