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

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル1993 International Conference on Intelligent Robots and Systems
編集者 Anon
出版社Publ by IEEE
ページ1653-1658
ページ数6
ISBN(印刷版)0780308239
出版ステータスPublished - 1993 12 1
外部発表はい
イベントProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 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

ASJC Scopus subject areas

  • Engineering(all)

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