A Bilateral Control Method for Master-Slave Grasping and Manipulation System

2006 ◽  
Author(s):  
Koichi Nishimura ◽  
Kouhei Ohnishi
Keyword(s):  
Control Method ◽  
Bilateral Control ◽  
Manipulation System ◽  
Grasping And Manipulation

Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System

2012 ◽  
Vol 5 (2) ◽  
pp. 479-485 ◽  
Author(s):  
Xiang Wang ◽  
Changfu Zong ◽  
Haitao Xing ◽  
Rufei Hu ◽  
Xujun xie
Keyword(s):  
Control Method ◽  
Bilateral Control ◽  
Steer By Wire ◽  
Wire System

Key Technologies of Telepresence in Time-Delayed Teleoperation System: Review and Analysis

2013 ◽  
Vol 328 ◽  
pp. 48-55 ◽  
Author(s):  
Jian Hua Chen ◽  
Xi Hui Mu ◽  
Feng Po Du ◽  
Hao Liang Guo
Keyword(s):  
Control Method ◽  
Bilateral Control ◽  
Virtual Reality Technology ◽  
Teleoperation System ◽  
Key Technologies ◽  
System Review ◽  
Optimizing Control ◽  
And Control ◽  
Further Development ◽  
Human Sense

This paper reviews some key technologies and progress in the field of telepresence of teleoperation, meaning human sense and control of remote telerobot. Telepresence is the symbol of teleoperation, phenomenon of which enables the human to feel present at a remote location however a time-delay exits always in the teleoperation system. There are three means to conquer the effect: bilateral control method, virtual model based control and virtual reality technology. By optimizing control strategy user will get a perfect force or visual telepresence. Finally, opinions are given as to the further development of the field.

Realization of Finishing Cuts Under Changing Machining Conditions by Machining Support Robots

2010 ◽  
Author(s):  
Tsuginobu Osada ◽  
Ken’ichi Yano ◽  
Mustapha S. Fofana
Keyword(s):  
Control System ◽  
Support System ◽  
Control Method ◽  
Haptic Device ◽  
Feed Speed ◽  
Bilateral Control ◽  
Precise Control ◽  
Finish Machining ◽  
Machining Conditions ◽  
Finishing Processes

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a control method based on a machining model made up of several components, including tool speed, feed speed of the tool and others, in order to control the robots under conditions in which it is possible to achieve highly accurate machining surfaces. The motion of a slave robot that requires precise control is controlled automatically, and the worker is given the force calculated by this control method. The effectiveness of this system is shown in a machining experiment.

scholarly journals A novel aerial manipulator system compensation control based on ADRC and backstepping

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Le Ma ◽  
Yiming Yan ◽  
Zhiwei Li ◽  
Jie Liu
Keyword(s):  
Control Method ◽  
Frame Structure ◽  
Parameter Method ◽  
Dynamics Modeling ◽  
Virtual Experiments ◽  
Disturbance Rejection Control ◽  
Aerial Manipulator ◽  
Manipulation System ◽  
Exact Position ◽  
System Compensation

AbstractThis paper proposes a fully-actuated control method for a novel aerial manipulation system (AMS). A customized carbon frame structure supports the servo actuators, on which eight propellers group into pairs located. We present kinematics and dynamics modeling of the AMS based on Craig parameter method and recursive Newton–Euler equation, respectively. Then, an Active disturbance rejection control (ADRC)—Backstepping—Compensation controller is designed to control the exact position and orientation of the manipulator in the Cartesian space. Finally, the performance of the system is demonstrated through simulations and virtual experiments.

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