Task-oriented control of single-master multi-slave manipulator system

Kazuhiro Kosuge, Jun Ishikawa

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

A single-master multi-slave manipulator system consists of a master arm with six degrees of freedom and slave arms each of which has six or more degrees of freedom. In this paper, we propose a task-oriented control algorithm for coordinated motion control of a single-master multi-slave manipulator system. The algorithm controls not only the mechanical impedance of an object manipulated by multiple arms but also the external force sharing among the manipulators. We then apply it to the task-oriented control of a single-master multi-slave manipulator system. Experiments illustrate the proposed control algorithm.

Original languageEnglish
Pages (from-to)95-105
Number of pages11
JournalRobotics and Autonomous Systems
Volume12
Issue number1-2
DOIs
Publication statusPublished - 1994 Jan 1
Externally publishedYes

Keywords

  • Coordinated motion control
  • Master-slave manipulator system
  • Mechanical impedance control
  • Task-oriented control
  • Virtual internal model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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