NDLI: Assist control for positioning task by flexible master-slave system

Content Provider	IEEE Xplore Digital Library
Author	Morita, Y. Tsukamoto, N. Asai, K. Ukai, H. Kando, H. Matsui, N.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan (Morita, Y.; Tsukamoto, N.; Asai, K.; Ukai, H.; Kando, H.; Matsui, N.)
Abstract	This paper presents a new assist control method for positioning tasks by using a master-slave system having the elasticity on the slave arm. When the operator performs the positioning task with the flexible master-slave system, the remote operation becomes too difficult owing to the elastic vibration of the slave arm. In order to reduce the operator's load and to assist the operation, we design a new assist control method on the basis of the following design policies: (i) we imitate skills of skilled operators and (ii) we permit a slight autonomic movement of the slave arm. For these policies, the strain feedback is introduced to the conventional bilateral control method. This implies the strain signal at the root of the slave arm is fed back to both the master and slave inputs. We examine the stability of the closed-loop system with the human model and the proposed control system. Then we evaluate the maneuverability of the proposed assist control method on the basis of the task success time and the operator's feeling by the SD method. Also we evaluate it by applying the principle component analysis to the results of the SD method. These evaluation results show an improvement of the maneuverability and confirm the effectiveness of the proposed assist control method.
Sponsorship	IEEE Industrial Electronics Soc. Univ. of Maribor
Starting Page	790
Ending Page	795
File Size	454670
Page Count	6
File Format	PDF
ISBN	0780378520
DOI	10.1109/ICIT.2003.1290758
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-12-10
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Master-slave Humans Elasticity Capacitive sensors Strain control Feedback Control system synthesis Stability Cooperative systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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