The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment
Abstract
In this paper, the analysis and design of master-slave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability is given, based on the concept of ideal responses. Third, we propose new control schemes of master-slave manipulators that provide the ideal kinesthetic coupling such that the operator can maneuver the system as though he/she were directly manipulating the remote object himself/herself. The proposed control scheme requires accurate dynamic models of the master and slave arms, but neither parameters of the remote object nor the operator dynamics is necessary. Last, the proposed control scheme is introduced to a prototype master-slave system and the experimental results show the validity of the proposed scheme.
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Citations
Cites
Optimization—Theory and Applications
Cesari, L. (1983) · Springer eBooks · doi:10.1007/978-1-4613-8165-5 · Cited by 2,559
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.24201 · Cited by 2,128
A design framework for teleoperators with kinesthetic feedback
Hannaford, B. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88057 · Cited by 926
Robust control of dynamically interacting systems
COLGATE, J. E., & HOGAN, N. (1988) · International Journal of Control · doi:10.1080/00207178808906161 · Cited by 589
Sheridan, T. B. (1989) · Automatica · doi:10.1016/0005-1098(89)90093-9 · Cited by 308
Design issues in 2-port network models of bilateral remote manipulation
Raju, G. J., Verghese, G. C., & Sheridan, T. B. (2003) · Proceedings, 1989 International Conference on Robotics and Automation · doi:10.1109/robot.1989.100162 · Cited by 211
Stability and performance tradeoffs in bi-lateral telemanipulation
Hannaford, B. (2003) · Proceedings, 1989 International Conference on Robotics and Automation · doi:10.1109/robot.1989.100230 · Cited by 180
An approach to nonlinear feedback control with applications to robotics
Gilbert, E. G., & Ha, I. J. (1984) · IEEE Transactions on Systems Man and Cybernetics · doi:10.1109/tsmc.1984.6313314 · Cited by 103
Cited by
Steinbach, E., Hirche, S., Ernst, M., Brandi, F., Chaudhari, R., Kammerl, J., & Vittorias, I. (2012) · Proceedings of the IEEE · doi:10.1109/jproc.2011.2182100 · Cited by 198
Metadata
- Authors
- Yokokohji, Y., & Yoshikawa, T.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1994
- Volume
- 10
- Issue
- 5
- Pages
- 605-620
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2171649388
- Cited by
- 939
- References
- 8
- FWCI
- 9.24
- Type
- journal article
- Language
- en
- Open access
- closed
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- Yokokohji, Y., & Yoshikawa, T. (1994). Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.326566
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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