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Systems Thinking Approach for Social Problems pp 25–35Cite as

A Command Splitter for a Mini–Macro-Manipulator for Online Telemanipulation

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 327))

Abstract

A mini–macro-system consists of two manipulators cascaded to each other, one of them being much lighter than the other. The advantage is that the lighter manipulator which has better dynamic response can quickly respond to the command and the sluggish partner can start contributing when it is ready. The control systems of both the manipulators are good enough to execute any joint motion independently, but they need precise individual reference velocity signals for all the joints in real time so that it could move all of them appropriately even in cascaded condition. This paper presents an algorithm to compute the joint rates in real time so that both the manipulators cooperate with each other in moving the end-effector in best possible way.

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References

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Author information

Authors and Affiliations

  1. Division of Remote Handling and Robotics, BARC, Mumbai, 400085, India

    Amar Banerji

Authors
  1. Amar Banerji
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Corresponding author

Correspondence to Amar Banerji .

Editor information

Editors and Affiliations

  1. Systems Science, Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India

    Vivek Vijay

  2. Information and Communication Tech., Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India

    Sandeep Kumar Yadav

  3. Systems Science, Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India

    Bibhas Adhikari

  4. Systems Science, Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India

    Harinipriya Seshadri

  5. Systems Science, Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India

    Deepak Kumar Fulwani

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Banerji, A. (2015). A Command Splitter for a Mini–Macro-Manipulator for Online Telemanipulation. In: Vijay, V., Yadav, S., Adhikari, B., Seshadri, H., Fulwani, D. (eds) Systems Thinking Approach for Social Problems. Lecture Notes in Electrical Engineering, vol 327. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2141-8_3

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  • DOI: https://doi.org/10.1007/978-81-322-2141-8_3

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  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-2140-1

  • Online ISBN: 978-81-322-2141-8

  • eBook Packages: EngineeringEngineering (R0)

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