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 language | English |
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| Title of host publication | Proc 1990 IEEE Int Conf Rob Autom |
| Publisher | Publ by IEEE |
| Pages | 1172-1177 |
| Number of pages | 6 |
| ISBN (Print) | 0818620617 |
| Publication status | Published - 1990 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: 1990 May 13 → 1990 May 18 |
Publication series
| Name | Proc 1990 IEEE Int Conf Rob Autom |
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Other
| Other | Proceedings of the 1990 IEEE International Conference on Robotics and Automation |
|---|---|
| City | Cincinnati, OH, USA |
| Period | 90/5/13 → 90/5/18 |
ASJC Scopus subject areas
- Engineering(all)
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Cite this
Kosuge, K., Ishikawa, J., Furuta, K., & Sakai, M. (1990). Control of single-master multi-slave manipulator system using VIM. In Proc 1990 IEEE Int Conf Rob Autom (pp. 1172-1177). (Proc 1990 IEEE Int Conf Rob Autom). Publ by IEEE.