Bilateral control of master-slave manipulators for ideal kinesthetic coupling
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 355-362 vol.1
- https://doi.org/10.1109/iros.1990.262411
Abstract
In bilateral control, the operator is coupled with the object at the remote site through the master-slave system and he can feel the object through his kinesthesia. The ideal kinesthetic coupling can be regarded as when the operator can manipulate the system as if he were manipulating the object directly. The authors previously discussed Yoshikawa and Yokokohji (1988) and Yokokohji and Yoshikawa (1989) one degree-of-freedom (DOF) systems in order to achieve this ideal state. In this paper, the discussion is extended into multiple DOF case. First, the ideal responses of master-slave systems are defined. Secondly, new control schemes are proposed for different configuration and for isomorphic configuration arms, respectively. Thirdly, the validity of the proposed control schemes are confirmed by simulations. Lastly, design guide of master and slave arms is discussed in the viewpoint of maneuverability.Keywords
This publication has 4 references indexed in Scilit:
- Master-slave manipulator based on virtual internal model following control conceptPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Design Guide of Master Arms Considering Operator DynamicsJournal of Dynamic Systems, Measurement, and Control, 1993
- A design framework for teleoperators with kinesthetic feedbackIEEE Transactions on Robotics and Automation, 1989
- Control system analysis and synthesis for a six degree-of-freedom universal force-reflecting hand controllerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1980