TY - GEN
T1 - Development of an advanced master-slave manipulator using a pantograph master arm and a redundant slave arm
AU - Matsuhira, Nobuto
AU - Asakura, Makoto
AU - Bamba, Hiroyuki
AU - Uenohara, Michihiro
PY - 1993/12/1
Y1 - 1993/12/1
N2 - A new master-slave manipulator (MSM) with different configurations and different degrees of freedom (DOF) has been developed. It consists of a general master arm using pantograph mechanisms and a 7 DOF slave arm with a redundant joint. Symmetric bilateral control using a virtual internal model and redundant arm control with a singular configuration are used to improve the maneuverability of the MSM. The developed MSM has been confirmed to have good maneuverability from basic experiments. This paper describes the mechanisms, control methods, and experimental results of the MSM.
AB - A new master-slave manipulator (MSM) with different configurations and different degrees of freedom (DOF) has been developed. It consists of a general master arm using pantograph mechanisms and a 7 DOF slave arm with a redundant joint. Symmetric bilateral control using a virtual internal model and redundant arm control with a singular configuration are used to improve the maneuverability of the MSM. The developed MSM has been confirmed to have good maneuverability from basic experiments. This paper describes the mechanisms, control methods, and experimental results of the MSM.
UR - http://www.scopus.com/inward/record.url?scp=0027873142&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0027873142
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 1653
EP - 1658
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -