Title :
Design and evaluation of a bilateral master-slave hand system
Author :
Yoshida, Koichi ; Yabuta, Tetsuro
Author_Institution :
Telecommun. Field Syst. R&D Center, NTT Corp., Ibaraki, Japan
Abstract :
A prototype bilateral master-slave hand system has been developed. Both the master and slave hands consist of three robot fingers using 3 degree-of-freedom (DOF) small manipulators each equipped with 3-axis force sensor to enable force feedback to the operator. In this paper, the master-slave hand system is described, and the system performance is evaluated based on the concept of the two-terminal pair network. Simulation results are reported which show that this master-slave hand system, using a bilateral control algorithm which was proposed previously, can realize almost ideal response in the low-frequency domain
Keywords :
feedback; manipulators; telerobotics; 3-axis force sensor; bilateral control algorithm; bilateral master-slave hand system; force feedback; low-frequency domain; robot fingers; two-terminal pair network; Control systems; Fingers; Force sensors; Manipulators; Master-slave; Orbital robotics; Robot kinematics; Robot sensing systems; Servomechanisms; Servomotors;
Conference_Titel :
Robot and Human Communication, 1993. Proceedings., 2nd IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-1407-7
DOI :
10.1109/ROMAN.1993.367684
