Abstract
In this study, a bilateral control system for two-degree-of-freedom (two-DOF) remote robots that are capable of grasping and manipulating motion is considered. The purpose of this research is to achieve force-sensor-less bilateral control with thrust wires for two-DOF systems with small operational forces. Small operational forces in remote robot systems are suitable for several applications. In conventional research, methods for reducing the operational forces in one-DOF systems with thrust wires were proposed. In this study, this method is applied to a two-DOF system. Furthermore, a method for further reduction of operational forces is proposed in which force transforms of both local and modal space are implemented. By considering modal space in the two-DOF system, the operational forces can be reduced further. The validity of the proposed method is confirmed using experiments.
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Sato, T., Sakaino, S., Yakoh, T. (2012). Methods for Reducing Operational Forces in Force-Sensorless Bilateral Control with Thrust Wires for Two-Degree-of-Freedom Remote Robots. In: Hippe, Z.S., Kulikowski, J.L., Mroczek, T. (eds) Human – Computer Systems Interaction: Backgrounds and Applications 2. Advances in Intelligent and Soft Computing, vol 99. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23172-8_7
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DOI: https://doi.org/10.1007/978-3-642-23172-8_7
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