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.
| Original language | English |
|---|---|
| Pages (from-to) | 95-105 |
| Number of pages | 11 |
| Journal | Robotics and Autonomous Systems |
| Volume | 12 |
| Issue number | 1-2 |
| DOIs | |
| Publication status | Published - 1994 Mar |
| Externally published | Yes |
Keywords
- Coordinated motion control
- Master-slave manipulator system
- Mechanical impedance control
- Task-oriented control
- Virtual internal model
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications