TY - GEN
T1 - A posture control of redundant manipulator using image information on bilateral system
AU - Ohta, T.
AU - Murakami, T.
PY - 2007/12/1
Y1 - 2007/12/1
N2 - In this research, we propose a construction method of bilateral system using redundant manipulator. In bilateral system, operation can be realized in narrow space and at remote plate, and the master-slave robots with redundancy are needed to operate variedly. However, human operation will be difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult. This paper expresses about a construction of bilateral system so that it assists the human operation by focusing the posture control of redundant manipulator. Furthermore, bilateral system needs the visual information by cameras to recognize the remote environment in slave. By using this camera information, the assist to the difficult operation of redundant manipulator will be realized.
AB - In this research, we propose a construction method of bilateral system using redundant manipulator. In bilateral system, operation can be realized in narrow space and at remote plate, and the master-slave robots with redundancy are needed to operate variedly. However, human operation will be difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult. This paper expresses about a construction of bilateral system so that it assists the human operation by focusing the posture control of redundant manipulator. Furthermore, bilateral system needs the visual information by cameras to recognize the remote environment in slave. By using this camera information, the assist to the difficult operation of redundant manipulator will be realized.
KW - Bilateral
KW - Manipulability
KW - Redundant manipulator
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=48649100639&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48649100639&partnerID=8YFLogxK
U2 - 10.1109/AIM.2007.4412477
DO - 10.1109/AIM.2007.4412477
M3 - Conference contribution
AN - SCOPUS:48649100639
SN - 1424412641
SN - 9781424412648
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
BT - 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
T2 - 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Y2 - 4 September 2007 through 7 September 2007
ER -