TY - JOUR
T1 - Manoeuvrability of a master-slave manipulator with different configurations and its evaluation tests
AU - Matsuhira, Nobuto
AU - Asakura, Makoto
AU - Bamba, Hiroyuki
PY - 1993/1/1
Y1 - 1993/1/1
N2 - Recently, much research on master-slave manipulators with different configurations (MSM-DC) has been conducted, but the manoeuvrability between different structural arms has not been sufficiently discussed. Thus, an MSM-DC with six degrees of freedom (DOF) using an orthogonal-type master arm has been developed and its manoeuvrability has been studied with the aid of some basic experiments. The results were as follows: (1) the MSM-DC can be operated as easily as a conventional MSM that uses a replica master arm; (2) the slave arm position and the reflecting force of the master arm are correctly generated by coordinate transformation between the slave arm and the master ann; (3) the master-slave mode is suitable for performing a fine task, compared with the joystick mode; and (4) the function of changing the transformation point, which is newly proposed, from the master arm to the slave arm is effective in carrying out a task which has a revolving point. In addition, quantitative evaluation of the manoeuvrability of an MSM was investigated using a pattern trace.
AB - Recently, much research on master-slave manipulators with different configurations (MSM-DC) has been conducted, but the manoeuvrability between different structural arms has not been sufficiently discussed. Thus, an MSM-DC with six degrees of freedom (DOF) using an orthogonal-type master arm has been developed and its manoeuvrability has been studied with the aid of some basic experiments. The results were as follows: (1) the MSM-DC can be operated as easily as a conventional MSM that uses a replica master arm; (2) the slave arm position and the reflecting force of the master arm are correctly generated by coordinate transformation between the slave arm and the master ann; (3) the master-slave mode is suitable for performing a fine task, compared with the joystick mode; and (4) the function of changing the transformation point, which is newly proposed, from the master arm to the slave arm is effective in carrying out a task which has a revolving point. In addition, quantitative evaluation of the manoeuvrability of an MSM was investigated using a pattern trace.
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U2 - 10.1163/156855394X00455
DO - 10.1163/156855394X00455
M3 - Article
AN - SCOPUS:0027940754
SN - 0169-1864
VL - 8
SP - 185
EP - 202
JO - Advanced Robotics
JF - Advanced Robotics
IS - 2
ER -