Implementation of the micro-macro teleoperation system without using slave-side force sensors

Koji Takeo, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

30 Citations (Scopus)

Abstract

This paper proposes an alternative control algorithm for scaled teleoperation system. In micro environment, since force acts on the environment as well as its dimension is small, appropriate size or precision of force sensor for controlling manipulator is not always available. So, it is important to implement bilateral scaled teleoperation system without using force sensors in micro environment. The proposed algorithm utilizes mass property of the slave manipulator as it is, it could be implemented without using slave-side force sensors. The stability of the system is also guaranteed based on passivity properties of the system, for any scaling ratio between master and slave. The proposed algorithm is applied to experimental micro-macro teleoperation system and experimental results illustrate the validity of the system.

Original languageEnglish
Pages (from-to)1600-1605
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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