By Topic

Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Y. Yokokohji ; Dept. of Mech. Eng., Kyoto Univ., Japan ; T. Yoshikawa

In this paper, the analysis and design of master-slave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability is given, based on the concept of ideal responses. Third, we propose new control schemes of master-slave manipulators that provide the ideal kinesthetic coupling such that the operator can maneuver the system as though he/she were directly manipulating the remote object himself/herself. The proposed control scheme requires accurate dynamic models of the master and slave arms, but neither parameters of the remote object nor the operator dynamics is necessary. Finally, the proposed control scheme is introduced to a prototype master-slave system and the experimental results show the validity of the proposed scheme

Published in:

IEEE Transactions on Robotics and Automation  (Volume:10 ,  Issue: 5 )