Abstract
We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system.
Original language | English |
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Pages (from-to) | 3440-3445 |
Number of pages | 6 |
Journal | transactions of the japan society of mechanical engineers series c |
Volume | 60 |
Issue number | 578 |
DOIs | |
Publication status | Published - 1994 |
Keywords
- Bilateral Feedback
- Damping Control
- Master-Slave Manipulator
- Robot
- Stiffness Control
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering