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
PublisherPubl by IEEE
Pages1653-1658
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

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

    Fingerprint

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). (1993 International Conference on Intelligent Robots and Systems). Publ by IEEE.