1994
DOI: 10.1109/70.326566
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Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment

Abstract: In this paper, the analysis and design of masterslave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability is given, based on the concept of ideal responses. Third, we propose new control schemes of masterslave manipulators that … Show more

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Cited by 824 publications
(240 citation statements)
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“…We have used a four-channel architecture for teleoperation control that uses weighted summations of the master and slave forces as well as the difference between the positions of the master and the slave. Yokokohji and Yoshikawa [33] provide more information about this control strategy.…”
Section: Master-slave Control and Communicationmentioning
confidence: 98%
“…We have used a four-channel architecture for teleoperation control that uses weighted summations of the master and slave forces as well as the difference between the positions of the master and the slave. Yokokohji and Yoshikawa [33] provide more information about this control strategy.…”
Section: Master-slave Control and Communicationmentioning
confidence: 98%
“…This section then analyzes the transparency of the proposed bilateral EBA in terms of position and force tracking responses. Transparency can be said to be perfect if the impedance that is displayed to the operator side is the same as the environment impedance [26] or if both the position responses m x and s x , and the force responses m f and s f are respectively identical [27].…”
Section: Transparency Analysis Of the Proposed Ebamentioning
confidence: 99%
“…If individual blocks of the network model are passive, the overall system is passive, and it is sufficient to make the system stable [11]. In the case of master-slave systems, if we could assume that the operator and the environment are passive systems, then the sufficient condition of stability is that the teleoperator two-port channel itself must be passive [12,13]. Strictly speaking, however, the operator is not passive he/she has muscles as the power source.…”
Section: Background On Wave Variablesmentioning
confidence: 99%