[go: up one dir, main page]

Kosuge et al., 1990 - Google Patents

Control of single-master multi-slave manipulator system using VIM

Kosuge et al., 1990

Document ID
9340354512631222694
Author
Kosuge K
Ishikawa J
Furuta K
Sakai M
Publication year
Publication venue
Proceedings., IEEE International Conference on Robotics and Automation

External Links

Snippet

A single-master, multiple-slave manipulator system and its task-oriented control using VIM (virtual internal model) are proposed. By using this system, the operator no longer has to consider how to control the slave arms in coordination, so the operator can concentrate on …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means

Similar Documents

Publication Publication Date Title
Kosuge et al. Control of single-master multi-slave manipulator system using VIM
Yoshikawa et al. Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object
Magrini et al. Control of generalized contact motion and force in physical human-robot interaction
US4826392A (en) Method and apparatus for hybrid position/force control of multi-arm cooperating robots
US10335946B2 (en) Compositional impedance programming for robots
Karayiannidis et al. In-hand manipulation using gravity and controlled slip
Ali et al. The kinematics of the Anthrobot-2 dextrous hand
Yamawaki et al. Iterative learning of variable impedance control for human-robot cooperation
Nagua Cuenca et al. A first approach to a proposal of a soft robotic link acting as a neck
Adorno et al. Towards a cooperative framework for interactive manipulation involving a human and a humanoid
Bergamasco et al. Exoskeletons as man-machine interface systems for teleoperation and interaction in virtual environments
Sidiropoulos et al. A variable admittance controller for human-robot manipulation of large inertia objects
Rojas et al. Analysis of autonomous cooperative assembly using coordination schemes by heterogeneous robots using a control basis approach
Kim et al. Collision and singularity avoidance path planning of 6-DOF dual-arm manipulator
Zefran et al. Optimal trajectories and force distribution for cooperating arms
Saafi et al. Optimal haptic control of a redundant 3-RRR spherical parallel manipulator
Winkler et al. Force-guided motions of a 6-dof industrial robot with a joint space approach
Yang et al. Massive object transportation by a humanoid robot
Luecke et al. A joint error‐feedback approach to internal force regulation in cooperating manipulator systems
Zarafshan et al. Which impedance strategy is the most effective for cooperative object manipulation?
Behrens et al. Kinematics analysis of a 3-DOF joint for a novel hyper-redundant robot arm
Liu et al. Design, modeling and motion control of a multi-segment SMA driven soft robotic manipulator
Williams et al. Shared control of multiple-manipulator, sensor-based telerobotic systems
Costanzo et al. Dual-arm in-hand manipulation with parallel grippers using tactile feedback
Petrenko et al. Kinematic analysis anthropomorphic gripper with group drive