Remote force control of robot using PHANToM haptic model and force sensor

Author

Horie, Takao ; Tanaka, Kazuaki ; Abe, Norihiro ; Taki, Hirokazu

Author_Institution

Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Iizuka, Japan

fYear

2001

fDate

2001

Firstpage

128

Lastpage

135

Abstract

The master slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while he notices the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time was long, the operator could operate a robot appropriately while he sensed the force added to the robot

Keywords

force control; force sensors; haptic interfaces; manipulators; telerobotics; PHANToM haptic model; force environment generation; force sensor; master slave control; remote force control; Communication system control; Force control; Force sensors; Haptic interfaces; Imaging phantoms; Master-slave; Robot control; Robot sensing systems; Robotic assembly; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on

Conference_Location

Fukuoka

Print_ISBN

0-7803-7004-X

Type

conf

DOI

10.1109/ISATP.2001.928978

Filename

928978