Bilateral Remote Control with Dynamics Reflection
This paper describes an effective bilateral master slave remote manipulator system, called object dynamics reflection bilateral control (ODRBC). In the proposed system, the dynamics of the load at the slave side is measured in real-time, and the parameters necessary to describe the dynamics are transmitted to the master side. Using software servo techniques and those parameters, the dynamics of the master mechanism is adjusted. The operator feels the reaction, from the constraints encountered at the slave side, through the change of the dynamics of the master mechanism. The feasibility experiments were carried out using a simulated one axis bilateral system. From the experimental results, it was found that the proposed system worked stably under several load conditions and transmission delays between master and slave sides. The system enabled the operator to feel the compliance of an object.
KeywordsSettling Time Torque Sensor Remote Control System Armature Current Master Mechanism
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