TY - GEN
T1 - Bilateral control with 2-DOF haptic spherical interface
AU - Watanabe, Kento
AU - Shimamoto, Keita
AU - Ohnishi, Kouhei
PY - 2012/12/1
Y1 - 2012/12/1
N2 - In this paper, bilateral control with two degrees of freedom (2-DOF) haptic spherical interface is proposed. There is much research about the mechanical structure of the haptic interface to realize large movable range. However, these are not suitable for the interface of the open environment. In addition, to achieve wide movable range, there are some problems that the robot gets large and the large inertia deteriorates the operationality according to the movable range. In this paper, by utilizing a sphere as a interface, the interface has the two degrees of freedom and the unlimited movable range. The interface is utilized as the master robot. Meanwhile, an X-Y stage is utilized as the slave robot. The number of the actuators, the actuator type, and the structures are different between master-slave robots. Hence, bilateral control considering the differences is proposed.
AB - In this paper, bilateral control with two degrees of freedom (2-DOF) haptic spherical interface is proposed. There is much research about the mechanical structure of the haptic interface to realize large movable range. However, these are not suitable for the interface of the open environment. In addition, to achieve wide movable range, there are some problems that the robot gets large and the large inertia deteriorates the operationality according to the movable range. In this paper, by utilizing a sphere as a interface, the interface has the two degrees of freedom and the unlimited movable range. The interface is utilized as the master robot. Meanwhile, an X-Y stage is utilized as the slave robot. The number of the actuators, the actuator type, and the structures are different between master-slave robots. Hence, bilateral control considering the differences is proposed.
UR - http://www.scopus.com/inward/record.url?scp=84872959793&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872959793&partnerID=8YFLogxK
U2 - 10.1109/IECON.2012.6389181
DO - 10.1109/IECON.2012.6389181
M3 - Conference contribution
AN - SCOPUS:84872959793
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4394
EP - 4399
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -