TaskOriented Control of Telemanipulator Based on Passivity

Kazuhiro Kosuge, Tomotaka Itoh, Toshio Fukuda, Manabu Otsuka

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)

Abstract

This paper proposes a control algorithm of a master-slave manipulator system based on passivity of the system. We model task-oriented characteristics as a task-oriented virtual me chanism and control the master-slave system so that it has the dynamics of the task-oriented virtual mechanism. The master-slave manipulator system works as a tool for a given task in the proposed system. We demonstrate the total stability of the system including an operator and a passive environment based on the passivity of the proposed master-slave system. The proposed method is experimentally applied to a master-slave manipulator and the experimental results illustrate the validity of the system.

Original languageEnglish
Pages (from-to)4007-4012
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Volume61
Issue number590
DOIs
Publication statusPublished - 1995

Keywords

  • Control
  • Master-slave Manipulator
  • Passivity
  • Robot
  • Task-Oriented Control
  • Teleoperation
  • Virtual Mechanism

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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