Six-axis bilateral control of an articulated slave manipulator using a Cartesian master manipulator

Inoue, Masashi; Yamada, Katsuhiko; Tanaka, Kunimaro; Nakagawa, Jun; Machida, Kazuo; Toda, Yoshitsugu

doi:10.1163/156855390x00116

Cited by 6 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to improve the success of the surgery, a clear force feedback reflect to the surgeon is of paramount importance in In 1990, the first serial mechanism manipulator with force feedback was designed by Masao Inoue et al (Inoue, 1989). Although this manipulator utilized the completely decoupled structure, it is big in size and cannot generate sufficient force feedback.…”

Section: Mechanical Designmentioning

confidence: 99%

Design of a Novel Force Feedback Master Manipulator

et al. 2015

View full text Add to dashboard Cite

This paper presents a novel master manipulator which specifically used in the operation of internal fixation of the pedicle screw. First, in consideration of the practical demand in this surgery, the mechanical design of parallel and serial mechanism is given according to specific design parameters. The mechanism consists of a three DOF of the improved Delta parallel mechanism to position the drill and a two DOF of a serial mechanism to adjust the posture. Then, the revised algorithm of the forward and inverse kinematics towards the improved Delta mechanism and the integral kinematics are illustrated. After that, the workspace and stiffness analysis are analyzed in three transformational directions to test its performance of maximum force feedback and stiffness. The analysis shows that this novel master manipulator meets the requirements in this specific spinal surgery.

show abstract

Section: Mechanical Designmentioning

confidence: 99%

Design of a Novel Force Feedback Master Manipulator

et al. 2015

View full text Add to dashboard Cite

show abstract

“…Tandem type and parallel type are the two divisions of the master hand. The right-angle coordinate type master hand created by Masao Inoue et al [10,11] is the first tandem force feedback master hand. 1990, which uses three mutually perpendicular spiral subs to adjust the position and three mutually perpendicular rotation subs to adjust the posture, and the overall is relatively bulky; the PHANTOM series products [12] of SensAble Company in the United States are currently the most successful one of the tandem force feedback operated master hand , its structure is lightweight, has good dynamic performance, and it is primarily used in virtual meetings, multimedia, and other digital presentations.…”

Section: Introductionmentioning

confidence: 99%

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Zhong

Gong

2023

Preprint

View full text Add to dashboard Cite

The teleoperated rescue robot system has significant practical value and realistic significance in light of the complicated and hazardous environment following the seismic tragedy. In this study, a master-end manipulator system for teleoperation is conceived and built based on the self-created large-load seven-degree-of-freedom (7-DOFs) hydraulic robotic arm, to give users a simple and practical method of dragging control. First, the master manipulator of the hydraulic rescue robotic arm is designed as a homogeneous seven-axis linkage structure in accordance with the master hand design principle, and the corresponding degrees of freedom are configured in accordance with the configuration and performance index of the redundant degrees of freedom of the slave end hydraulic manipulator arm. Next, we construct the synovial mode impedance control method after analyzing the motion of the actual main-end manipulator arm. The feasibility of the synovial-mode impedance algorithm and the operability of the joystick functioning as the main end of the teleoperation system are next tested through testing. The results demonstrate that, in comparison to the general impedance control, the suggested main-end manipulator may ensure a better traction effect and decrease torque output errors, which in turn enhances operation accuracy.

show abstract

Master-slave intelligent robot telepresence system

Liu

et al. 1996

Computers & Industrial Engineering

View full text Add to dashboard Cite

Six-axis bilateral control of an articulated slave manipulator using a Cartesian master manipulator

Cited by 6 publications

References 4 publications

Design of a Novel Force Feedback Master Manipulator

Design of a Novel Force Feedback Master Manipulator

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Master-slave intelligent robot telepresence system

Contact Info

Product

Resources

About