DocumentCode
3382219
Title
Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing
Author
Gupta, G. Sen ; Mukhopadhyay, S.C. ; Messom, C.H. ; Demidenko, S.
Author_Institution
Massey Univ., Palmerston North
Volume
3
fYear
2005
fDate
16-19 May 2005
Firstpage
2203
Lastpage
2208
Abstract
This paper details methods of solving problems that are encountered when human beings teleoperate robots. Special emphasis has been given to the ease of operation and some form of force sensation. Through the use of a rigid control rig, fitted to the user´s arm, it is possible to easily control an anthropomorphic robot arm using a master-slave control methodology. The force being exerted by the arm is measured and fed back to the user who is operating the master unit
Keywords
force sensors; telerobotics; anthropomorphic robotic arm; force feedback; gripping force sensing; master-slave control; teleoperated robots; Anthropomorphism; Force control; Force feedback; Force measurement; Humans; Master-slave; Probes; Robot control; Robot sensing systems; Robotics and automation; Force Sensing; Force feedback; Master-Slave control; Robotic arm; Teleoperation;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation and Measurement Technology Conference, 2005. IMTC 2005. Proceedings of the IEEE
Conference_Location
Ottawa, Ont.
Print_ISBN
0-7803-8879-8
Type
conf
DOI
10.1109/IMTC.2005.1604566
Filename
1604566
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