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

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

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

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
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
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

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)

Cite this

@inproceedings{10d2be83d8c147ffa3f878c31938fd28,

title = "Control of single-master multi-slave manipulator system using VIM",

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.",

author = "K. Kosuge and J. Ishikawa and K. Furuta and M. Sakai",

year = "1990",

language = "English",

isbn = "0818620617",

series = "Proc 1990 IEEE Int Conf Rob Autom",

publisher = "Publ by IEEE",

pages = "1172--1177",

booktitle = "Proc 1990 IEEE Int Conf Rob Autom",

note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",

}

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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UR - http://www.scopus.com/inward/citedby.url?scp=0025658573&partnerID=8YFLogxK

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 -

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

Abstract

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ASJC Scopus subject areas

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