TY - GEN
T1 - Control of single-master multi-slave manipulator system using VIM
AU - Kosuge, K.
AU - Ishikawa, J.
AU - Furuta, K.
AU - Sakai, M.
PY - 1990
Y1 - 1990
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0025658573
SN - 0818620617
T3 - Proc 1990 IEEE Int Conf Rob Autom
SP - 1172
EP - 1177
BT - Proc 1990 IEEE Int Conf Rob Autom
PB - Publ by IEEE
T2 - Proceedings of the 1990 IEEE International Conference on Robotics and Automation
Y2 - 13 May 1990 through 18 May 1990
ER -