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Article: Task-oriented control of single-master multi-slave manipulator system
| Title | Task-oriented control of single-master multi-slave manipulator system |
|---|---|
| Authors | |
| Keywords | Mechanical impedance control Master-slave manipulator system Coordinated motion control Task-oriented control Virtual internal model |
| Issue Date | 1994 |
| Citation | Robotics and Autonomous Systems, 1994, v. 12, n. 1-2, p. 95-105 How to Cite? |
| Abstract | A single-master multi-slave manipulator system consists of a master arm with six degrees of freedom and slave arms each of which has six or more degrees of freedom. In this paper, we propose a task-oriented control algorithm for coordinated motion control of a single-master multi-slave manipulator system. The algorithm controls not only the mechanical impedance of an object manipulated by multiple arms but also the external force sharing among the manipulators. We then apply it to the task-oriented control of a single-master multi-slave manipulator system. Experiments illustrate the proposed control algorithm. © 1994. |
| Persistent Identifier | http://hdl.handle.net/10722/302627 |
| ISSN | 2023 Impact Factor: 4.3 2023 SCImago Journal Rankings: 1.303 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Ishikawa, Jun | - |
| dc.date.accessioned | 2021-09-07T08:42:16Z | - |
| dc.date.available | 2021-09-07T08:42:16Z | - |
| dc.date.issued | 1994 | - |
| dc.identifier.citation | Robotics and Autonomous Systems, 1994, v. 12, n. 1-2, p. 95-105 | - |
| dc.identifier.issn | 0921-8890 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302627 | - |
| dc.description.abstract | A single-master multi-slave manipulator system consists of a master arm with six degrees of freedom and slave arms each of which has six or more degrees of freedom. In this paper, we propose a task-oriented control algorithm for coordinated motion control of a single-master multi-slave manipulator system. The algorithm controls not only the mechanical impedance of an object manipulated by multiple arms but also the external force sharing among the manipulators. We then apply it to the task-oriented control of a single-master multi-slave manipulator system. Experiments illustrate the proposed control algorithm. © 1994. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Robotics and Autonomous Systems | - |
| dc.subject | Mechanical impedance control | - |
| dc.subject | Master-slave manipulator system | - |
| dc.subject | Coordinated motion control | - |
| dc.subject | Task-oriented control | - |
| dc.subject | Virtual internal model | - |
| dc.title | Task-oriented control of single-master multi-slave manipulator system | - |
| dc.type | Article | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1016/0921-8890(94)90048-5 | - |
| dc.identifier.scopus | eid_2-s2.0-0028401426 | - |
| dc.identifier.volume | 12 | - |
| dc.identifier.issue | 1-2 | - |
| dc.identifier.spage | 95 | - |
| dc.identifier.epage | 105 | - |