TY - GEN
T1 - Image information based configuration control of redundant manipulator in bilateral system
AU - Murakami, Toshiyuki
AU - Ohta, T.
N1 - Funding Information:
★ This work was supported in part by the National Technological Agency. (sponsor and financial support acknowledgment goes here). Paper titles should be written in uppercase and lowercase letters, not all uppercase.
PY - 2008
Y1 - 2008
N2 - The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult because the manipulator redundancy enables to achieve infinite number of the manipulator posture. This paper focuses on a construction of bilateral system so that it assists the human operation by adjusting a configuration control of redundant manipulator. In particular, bilateral system utilizes visual information by cameras to recognize the target object of remote environment in slave. By using this camera information, the assist for the slave operation of redundant manipulator is realized without deteriorating the bilateral motion.
AB - The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanism. Especially, operating the posture of redundant manipulator by human hand is so difficult because the manipulator redundancy enables to achieve infinite number of the manipulator posture. This paper focuses on a construction of bilateral system so that it assists the human operation by adjusting a configuration control of redundant manipulator. In particular, bilateral system utilizes visual information by cameras to recognize the target object of remote environment in slave. By using this camera information, the assist for the slave operation of redundant manipulator is realized without deteriorating the bilateral motion.
KW - Information and sensor fusion
KW - Robotics technology
KW - Robots manipulators
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U2 - 10.3182/20080706-5-KR-1001.2250
DO - 10.3182/20080706-5-KR-1001.2250
M3 - Conference contribution
AN - SCOPUS:79961020266
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -