DocumentCode
3408975
Title
Cooperative control of two robots by remote operation
Author
Okumura, Katsuhiro ; Fujii, Seizo ; Kang, Zibo
Author_Institution
Dept. of Comput. Mech. Syst. Eng., Daido Inst. of Technol., Nagoya, Japan
Volume
5
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
3218
Abstract
A cooperative control of two robots by remote operation is proposed. The two slave robots are controlled simultaneously by another remote master robot that is manipulated by a human operator. Force-reflection bilateral control method is adopted in the master and slave robots control to make the operator manipulate the robots smoothly. In order to make the two slave robots act cooperatively to catch, carry and set an object, two methods of hybrid control and impedance control are used and compared to control the two slave robots.
Keywords
cooperative systems; force control; multi-robot systems; telerobotics; cooperative control; force-reflection bilateral control method; human operator; hybrid control; impedance control; remote master robot; remote operation; robot control; slave robots; Aging; Control systems; Force control; Force sensors; Impedance; Intelligent robots; Master-slave; Medical robotics; Robot control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195628
Filename
1195628
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