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

Author(s):  
Koichi Nishimura ◽  
Kouhei Ohnishi
Author(s):  
Xiang Wang ◽  
Changfu Zong ◽  
Haitao Xing ◽  
Rufei Hu ◽  
Xujun xie

2013 ◽  
Vol 328 ◽  
pp. 48-55 ◽  
Author(s):  
Jian Hua Chen ◽  
Xi Hui Mu ◽  
Feng Po Du ◽  
Hao Liang Guo

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.


Author(s):  
Tsuginobu Osada ◽  
Ken’ichi Yano ◽  
Mustapha S. Fofana

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.


2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Le Ma ◽  
Yiming Yan ◽  
Zhiwei Li ◽  
Jie Liu

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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