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Six-axis bilateral control of an articulated slave manipulator using a Cartesian master manipulator

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A bilateral master-slave manipulator system with different kinematics is described. In order to obtain good manoeuvrability, it is required to reduce the computational time for coordinate transformation and data communication between the master and the slave. We propose some methods for improving the performance: (1) the joints of the master manipulator are arranged along a Cartesian coordinate frame and force-controlled using a force/torque sensor in the handle, (2) the attitude of the hand or handle of the manipulators is described by quaternions, and (3) a dual CPU system connected by a serial communication line is used. A system that employs these methods realizes smooth operation and precise force feedback.

Document Type: Research Article


Affiliations: 1: Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi Hon-machi, Amagasaki, Hyogo, 661 Japan 2: Electrotechnical Laboratory, 1-1-4, Umezono, Tsukuba, Ibaraki, 305 Japan

Publication date: January 1, 1989

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