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 language | English |
|---|---|
| Pages (from-to) | 531-546 |
| Number of pages | 16 |
| Journal | International Journal of Innovative Computing, Information and Control |
| Volume | 4 |
| Issue number | 3 |
| Publication status | Published - Mar 2008 |
| Externally published | Yes |
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