Abstract
Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system using the multi-DOF ultrasonic motor is developed. Master and slave arms for the system have similar configurations, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are clarified experimentally and analytically in order to design the slave arm and its controller. Next, the master-slave arms and the unilateral feedback controller for the master-slave system are developed. Finally, the motion control tests of the system are performed to show the applicability of the master-slave system.
| Original language | English |
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| Pages | 1977-1982 |
| Number of pages | 6 |
| Publication status | Published - 2001 Dec 1 |
| Event | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 2001 Oct 29 → 2001 Nov 3 |
Other
| Other | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | United States |
| City | Maui, HI |
| Period | 01/10/29 → 01/11/3 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications