Control of Master-Slave Manipulator Using Virtual Force

Kazuhiro Kosuge, Tomotaka Itoh, Toshio Fukuda, Keizoh Sakamoto, Yasuo Noma

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)3440-3445
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number578
Publication statusPublished - 1994
Externally publishedYes


  • Bilateral Feedback
  • Damping Control
  • Master-Slave Manipulator
  • Robot
  • Stiffness Control

ASJC Scopus subject areas

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


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