Force display for master slave manipulator with different configurations

Satoshi Ikegami, Tatsushi Nishi, Masami Konishi

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

A new type of interactive master slave manipulation system for tele-operation is developed. The system consists of a master and a slave subsystem with different structure. These two subsystems are governed by bilateral control scheme. For master slave manipulation systems, nonlinear interferences may deteriorate performance in the bilateral control systems. To realize a sense of force for slave manipulation, the bilateral control scheme together with a decoupling control for slave is introduced to the master manipulator with different configurations. Experimental results demonstrate the effectiveness of the proposed control method.

Original languageEnglish
Pages (from-to)531-546
Number of pages16
JournalInternational Journal of Innovative Computing, Information and Control
Volume4
Issue number3
Publication statusPublished - Mar 2008
Externally publishedYes

Keywords

  • Bilateral control
  • Different configuration
  • Force display
  • Master slave manipulator
  • Tele-operation

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Information Systems
  • Computational Theory and Mathematics

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