TY - CHAP
T1 - Methods for reducing operational forces in force-sensorless bilateral control with thrust wires for two-degree-of-freedom remote robots
AU - Sato, T.
AU - Sakaino, S.
AU - Yakoh, T.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.
AB - In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.
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U2 - 10.1007/978-3-642-23172-8_7
DO - 10.1007/978-3-642-23172-8_7
M3 - Chapter
AN - SCOPUS:81855189482
SN - 9783642231711
T3 - Advances in Intelligent and Soft Computing
SP - 91
EP - 107
BT - Human - Computer Systems Interaction
A2 - Hippe, Zdzisaw
A2 - Mroczek, Teresa
A2 - Kulikowski, Juliusz
ER -