An evaluation of grasp force control in single-master multi-slave tele-micromanipulation

This paper proposes human-robot cooperative tele-micromanipulation system with novel single-master (PHANToM haptic device) multi-slaves (6 D.O.F parallel manipulator). The different kinematical configuration and the different D.O.F between the master and the slave introduces a mapping problem which can be serious for some cooperative manipulations. The position/force virtual mapping method is implemented in the single-master dual-slave tele-micromanipulation system to realize the human-robot cooperative internal force regulation while grasping task. The generated reference trajectories of both manipulators by the virtual mapping method are shared with the cooperative impedance control of multi-slaves to regulate the internal force while grasping an object. Lastly, an improved internal force regulation using the SMMS (single-master multi-slave) tele-micromanipulation system while grasping an object is verified by the pick-and-place experimental results.