DocumentCode
2635810
Title
Remote bilateral control of master-slave manipulators with an environment observer
Author
Kakizoe, Yuki ; Nakamura, Hisakazu ; Nishitani, Hirokazu
Author_Institution
Nara Inst. of Sci. & Technol., Nara
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
95
Lastpage
99
Abstract
We propose a remote bilateral control method of master-slave manipulators with an environment observer. The environment observer estimates parameters of an environment model of a remote place. The proposed system shows a good performance when the slave manipulator presses a compliant wall. We confirm the effectiveness of the proposed system by experiments.
Keywords
delays; manipulators; multivariable control systems; observers; telerobotics; compliant wall; environment observer; master-slave manipulator; parameter estimation; remote bilateral control; time delay; Control system synthesis; Control systems; Delay effects; Force control; Force sensors; Manipulators; Master-slave; Motion control; Parameter estimation; Presses; bilateral control; environment model; environment observer; master-slave system; teleoperation; time delay;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4420957
Filename
4420957
Link To Document