NDLI: Integration of robot task and human skill with bilateral control

Content Provider	IEEE Xplore Digital Library
Author	Okiyama, K. Murakami, T.
Copyright Year	2013
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan (Okiyama, K.; Murakami, T.)
Abstract	Master-slave system with bilateral control is expected to be a key technology for the next generation robots. Since position and force information are transmitted bilaterally, operators can operate the slave robot in a remote place, and feel a tactile sensation of the remote environment. Thus, by utilizing bilateral control, teleoperation with high operationality can be realized. On the other hand, it can be said that the accuracy of the task depends on operator skill, and the burden of the operator is quite high. The purpose of this research is to realize a system which human can modify the task conducted by the slave robot autonomously. With such system, high efficiency of the robot and human skill can be integrated, and thus the burden of the operator will be reduced. In the proposed system, when the operator doesn't operate the master robot, the slave robot conducts the task according to the position command or the force command given beforehand. If the operator operates the master robot, these commands are modified according to human operation. In this paper, 4ch based virtual impedance controller is proposed to realize a desired system. Experiment is conducted to verify the validity of the proposed method.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5882
Ending Page	5887
File Size	595807
Page Count	6
File Format	PDF
ISBN	9781479902248
ISSN	1553572X
DOI	10.1109/IECON.2013.6700099
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-10
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Force Impedance Mathematical model Equations Acceleration Redundant manipulator Master-slave system Virtual impedance Task modification
Content Type	Text
Resource Type	Article

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