Semi-autonomous tele-operation system using virtual tool

Kazuhiro Kosuge, Tomotaka Itoh, Toshio Fukuda, Manabu Otsuka

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

This paper proposes a semi-autonomous control algorithm for a tele-manipulator system based on a task-oriented virtual mechanism. We design a task-oriented virtual mechanism, or a task-oriented tool dynamics for a given task and separate its coordinate system into the coordinates in autonomous mode and the coordinates in manually-controlled mode. Then, we design a controller for the tele-manipulator system so that the system has the dynamics of the task-oriented tool. Thus, the maneuverability of the system is improved by controlling the telemanipulator system so that the system behaves as a tool. By assuming the passivity of an operator, the total stability of the resultant system is guaranteed for a passive environment with unknown dynamics. The proposed control algorithm is experimentally applied to a tele-manipulator system. The experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages327-332
Number of pages6
Publication statusPublished - 1994 Dec 1
Externally publishedYes
EventProceedings of the 3rd IEEE International Workshop on Robot and Human Communication - Nagoya, USA
Duration: 1994 Jul 181994 Jul 20

Other

OtherProceedings of the 3rd IEEE International Workshop on Robot and Human Communication
CityNagoya, USA
Period94/7/1894/7/20

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software

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  • Cite this

    Kosuge, K., Itoh, T., Fukuda, T., & Otsuka, M. (1994). Semi-autonomous tele-operation system using virtual tool. 327-332. Paper presented at Proceedings of the 3rd IEEE International Workshop on Robot and Human Communication, Nagoya, USA, .