TY - GEN
T1 - A bilateral control method for master-slave grasping and manipulation system
AU - Nishimura, Koichi
AU - Ohnishi, Kouhei
PY - 2006/12/1
Y1 - 2006/12/1
N2 - A human operator generally feels the gravity of a grasped object through a bilateral grasping system. It interferes with his manipulation of the object. This paper discusses a master-slave grasping and manipulation system. Different bilateral controllers are applied in the horizontal axis in which gravity doesn't act and the vertical axis in which gravity acts. The bilateral controller in the horizontal axis realizes that the operator feels reaction force added to the slave manipulators from the grasped object. In the vertical axis, we propose a method for estimation of reaction force added to the object from an environment when the object contacts with environment. The bilateral controller in the vertical axis reproduces the reaction force in master side. With this bilateral controller, the grasped object can contact with environment, and the operator feels reaction force from the environment without feeling the gravity of the object. Simulation and experimental results show the validity of the proposed method.
AB - A human operator generally feels the gravity of a grasped object through a bilateral grasping system. It interferes with his manipulation of the object. This paper discusses a master-slave grasping and manipulation system. Different bilateral controllers are applied in the horizontal axis in which gravity doesn't act and the vertical axis in which gravity acts. The bilateral controller in the horizontal axis realizes that the operator feels reaction force added to the slave manipulators from the grasped object. In the vertical axis, we propose a method for estimation of reaction force added to the object from an environment when the object contacts with environment. The bilateral controller in the vertical axis reproduces the reaction force in master side. With this bilateral controller, the grasped object can contact with environment, and the operator feels reaction force from the environment without feeling the gravity of the object. Simulation and experimental results show the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=50249167585&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249167585&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.347626
DO - 10.1109/IECON.2006.347626
M3 - Conference contribution
AN - SCOPUS:50249167585
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 3821
EP - 3826
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -