A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended virtual Tool Dynamics

Tomotaka Itoh, Akitaka Andoh, Takashi Matsui, Kazuhiro Kosuge, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.

Original languageEnglish
Pages (from-to)4364-4371
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume65
Issue number639
DOIs
Publication statusPublished - 1999
Externally publishedYes

Keywords

  • Control
  • Extended Virtual Tool
  • Human machine Cooperation
  • Passivity
  • Robot
  • Telemanipulation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended virtual Tool Dynamics'. Together they form a unique fingerprint.

Cite this