Control of single-master multi-slave manipulator system using VIM

K. Kosuge, J. Ishikawa, K. Furuta, M. Sakai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

46 Citations (Scopus)

Abstract

A single-master, multiple-slave manipulator system and its task-oriented control are proposed. By using this system, the operator no longer has to consider how to control the slave arms in coordination, so the operator can concentrate on his/her task during the operation. An experimental single-master, multislave manipulator system with two slave arms, each of which has six degrees of freedom, is described, and the concept of the system is illustrated. The experimental system does not have a bilateral function, and a master arm can specify the task-oriented variable up to six degrees of freedom. The use of bilateral feedback as well as task-oriented functions will enable the system to deal with more complex tasks.

Original languageEnglish
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1172-1177
Number of pages6
ISBN (Print)0818620617
Publication statusPublished - 1990 Dec 1
Externally publishedYes
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: 1990 May 13 → 1990 May 18

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period90/5/13 → 90/5/18

ASJC Scopus subject areas

  • Engineering(all)

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