Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm

Nobuto Matsuhira, Makoto Asakura, Hiroyuki Bamba, Michihiro Uenohara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

A new master-slave manipulator (MSM) with different configurations and different degrees of freedom (DOF) has been developed. It consists of a general master arm using pantograph mechanisms and a 7 DOF slave arm with a redundant joint. Symmetric bilateral control using a virtual internal model and redundant arm control with a singular configuration are used to improve the maneuverability of the MSM. The developed MSM has been confirmed to have good maneuverability from basic experiments. This paper describes the mechanisms, control methods, and experimental results of the MSM.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages1653-1658
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

Fingerprint

Pantographs
Manipulators
Maneuverability
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Matsuhira, N., Asakura, M., Bamba, H., & Uenohara, M. (1993). Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm. In Anon (Ed.), 1993 International Conference on Intelligent Robots and Systems (pp. 1653-1658). Piscataway, NJ, United States: Publ by IEEE.

Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm. / Matsuhira, Nobuto; Asakura, Makoto; Bamba, Hiroyuki; Uenohara, Michihiro.

1993 International Conference on Intelligent Robots and Systems. ed. / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. p. 1653-1658.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsuhira, N, Asakura, M, Bamba, H & Uenohara, M 1993, Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm. in Anon (ed.), 1993 International Conference on Intelligent Robots and Systems. Publ by IEEE, Piscataway, NJ, United States, pp. 1653-1658, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Jpn, 93/7/26.
Matsuhira N, Asakura M, Bamba H, Uenohara M. Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm. In Anon, editor, 1993 International Conference on Intelligent Robots and Systems. Piscataway, NJ, United States: Publ by IEEE. 1993. p. 1653-1658
Matsuhira, Nobuto ; Asakura, Makoto ; Bamba, Hiroyuki ; Uenohara, Michihiro. / Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm. 1993 International Conference on Intelligent Robots and Systems. editor / Anon. Piscataway, NJ, United States : Publ by IEEE, 1993. pp. 1653-1658
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