Application of a Position-Force Control Method in a Master-Slave Teleoperation Construction Robot System

Ling Tao Huang; Takuya Kawamura; Hironao Yamada

doi:10.4028/www.scientific.net/AMM.229-231.2243

Paper Titles

Quick Motion Path Plan for Joint-Robot to Pick Tomato under Free-Obstacle
p.2225

The Research Status and Development Trend of Fault Diagnosis System for CNC Machine
p.2229

Discrete Time Sliding Mode on Model Reference Adaptive System Based Sensorless Induction Motor Drive
p.2233

Ball-Based Surface Machining System Used in Non-Contour Control
p.2239

Application of a Position-Force Control Method in a Master-Slave Teleoperation Construction Robot System
p.2243

Research on Cooperation Localization and Mapping for Hoisting Multi-Robot System
p.2248

No Steady-State Error Tracking Control of Multi-Axle Steering Vehicle
p.2253

Robust Control for Enhancing Anti-Interference Performance of Multi-Axle Vehicle
p.2260

The Optimized Point Stabilization Control for Robots Based on Bézier Planning
p.2266

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 229-231Application of a Position-Force Control Method in...

Application of a Position-Force Control Method in a Master-Slave Teleoperation Construction Robot System

Abstract:

The purpose of this research is to develop a control method that can provide an operator with a suitable force feeling for grasping fragile or soft objects so as not to totally crush them. This research examines a master-slave control system for a teleoperation construction robot in which a shovel with a fork glove, having four degree of freedom, is regarded as slave side and two joysticks are regarded as master side. In the previous study using a position-velocity control method, two joysticks manipulated the shovel according to the velocity of its piston. However, it was found that the reaction force to the joysticks in grasping fragile or soft objects was insufficient for operators and they were compelled to feel strange while moving the joysticks, because they had to remove the joystick to a middle position to avoid fully grasping the object. A position-force control method, in which the reaction force to the joystick is used as feedback instead of the velocity of a piston, is proposed to overcome the problems. Its effectiveness is verified by experiments of grasping a tin block and a urethane foam block.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 229-231)

Pages:

2243-2247

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.229-231.2243

Citation:

Cite this paper

Online since:

November 2012

Authors:

Ling Tao Huang, Takuya Kawamura, Hironao Yamada

Keywords:

Construction Robot, Force Feedback, Hydraulic, Master-Slave Control, Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] M. Massimino, TB. Sherdan, Teleoperator performance with varying force and visual feedback, Human factors, 36(1) (1994) 145-157.

DOI: 10.1177/001872089403600109

Google Scholar

[2] H. Yamada et al., A Master-Slave Control for a Tele-Operation System for a Construction Robot Application of a Velocity Control Method With a Force Feedback Model. Journal of Robotics and Mechatronics, 19(1) (2007) 60-67.

Google Scholar

[3] H. Yamada et al., Master-Slave Control for Construction Robot Teleoperation, Journal of Robotics and Mechatronics, 15(1) (2003) 35-42.

Google Scholar