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
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;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195628
