Bilateral control for 4-DOF manipulator with a tendon-driven spherical joint mechanism

Author

Shimamoto, K. ; Suzuki, Daisuke ; Ohnishi, Kengo

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

fYear

2014

fDate

14-16 March 2014

Firstpage

290

Lastpage

295

Abstract

Master-slave robots with transmission of force sensation have gotten a lot of attention in the supporting surgery or searching danger area. The operators feel force sensation acting on slave robots by handling master robots. The transmission is realized by 4ch-bilateral control. In order to put the system into the practical use, bilateral control for multi degrees-of-freedom robots with lightweight mechanisms is desired. Therefore, in this research, bilateral control for 4 degrees-of-freedom manipulator with a tendon-driven spherical joint mechanism in the edge of 2 degrees-of-freedom parallel link manipulator is proposed. In addition, tension control is utilized to avoid strings from slacking. The experimental results show that the transmission of force sensation with the manipulator was realized.

Keywords

flexible manipulators; force control; motion control; telerobotics; 4-DOF manipulator; bilateral control; force sensation; master-slave robots; tendon-driven spherical joint mechanism; tension control; Gravity; Legged locomotion; Robot kinematics; Robot sensing systems; bilateral control; manipulator; multi-DOF; parallel mechanisms; spherical joint; tendon-driven;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on

Conference_Location

Yokohama

Type

conf

DOI

10.1109/AMC.2014.6823297

Filename

6823297