Bilateral Master-slave Control Research Articles

CERNTAURO: A Modular Architecture for Robotic Inspection and Telemanipulation in Harsh and Semi-Structured Environments

Intelligent robotic systems are becoming essential for industries, nuclear plants, and for harsh environments in general, such as the European Organization for Nuclear Research (CERN) particles accelerator complex and experiments. In order to increase safety and machine availability, robots can perform repetitive, unplanned, and dangerous tasks, which humans either prefer to avoid or are unable to carry out due to hazards, size constraints, or the extreme environments in which they take place. A novel robotic framework for autonomous inspections and supervised teleoperations in harsh environments is presented. The proposed framework covers all aspects of a robotic intervention, from the specification and operator training, the choice of the robot and its material in accordance with possible radiological contamination risks, to the realization of the intervention, including procedures and recovery scenarios. The robotic solution proposed in this paper is able to navigate autonomously, inspecting unknown environments in a safe way. A new real-time control system was implemented in order to guarantee a fast response to environmental changes and adaptation to different type of scenarios the robot may find in a semi-structured and hazardous environment. Components of the presented framework are: a novel bilateral master-slave control, a new robotic platform named CERNbot, and an advanced user-friendly multimodal human-robot interface, also used for the operators’ offline training, allowing technicians not expert in robot operation to perform inspection/maintenance tasks. The proposed system has been tested and validated with real robotic interventions in the CERN hazardous particle accelerator complex.

J027042 エネルギー回生を用いたバイラテラルマスタースレーブシステムの開発

J027042 エネルギー回生を用いたバイラテラルマスタースレーブシステムの開発

Development of a Force-feedback Teaching System for Metal Spinning Works using Virtual Non-holonomic Constraint

To make an operator feel reactive forces in teaching operations of metal spinning works with in smooth trajectories, a novel manufacturing system is proposed. Metal spinning is a plastic rotary-forming process in which a metal sheet is formed onto a rotating mandrel by forcing with a roller. A teaching device which is composed of a XY table and a handlebar with a force sensor was prototyped, instead of a joystick in common use. To conduct a shear spinning task from aluminum sheets of 0.8[mm] thickness to cone shells, the force-feedback function was implemented using a robotic bilateral master-slave control method based on a virtual internal model. While in a conventional spinning task of hemispherical parts, to smoothly operate the roller, a virtual non-holonomic model was applied, in reference to a kinematical constraint of a tool position in human-powered spinning works. It was verified that the enhanced system is easier to use than the simple bilateral master slave system through the forming experiments.

Force Display and Bi-Lateral Master-Slave Control with an Internal Model under the Consideration of Human Cross-Over Model

Force Display and Bi-Lateral Master-Slave Control with an Internal Model under the Consideration of Human Cross-Over Model

Master–Slave Control of a Teleoperated Anthropomorphic Robotic Arm With Gripping Force Sensing

This paper details the design and development of a low-cost control rig to intuitively manipulate an anthropomorphic robotic arm using a bilateral master-slave control methodology. Special emphasis has been given to the ease of operation and some form of force sensation. The control rig is fitted to the user's arm, and the forces exerted by the robotic arm's various joints are fed back to the user. Of special significance is the force feedback from the slave when its gripper is in contact with a real object. Several methods of force sensing have been explored and detailed. The effectiveness of the proposed method is confirmed by experiments on a commercially available robotic arm, which is controlled by a prototype three-axis master unit. The robotic arm mimics the dexterity of the human hand, wrist, and fingers. The proposed master control unit is cost effective and will have wide-ranging applications in the fields of medicine, manufacturing, security, extreme environment, entertainment, and remotely operated vehicle teleoperation in undersea recovery or extraterrestrial exploration vehicle

Development of Electric Cart with Function of Maintaining/Improving Exercise Ability-Part I: Design of the Electric Cart System-

This paper explains the development of a three-wheeled electric cart that not only is a means of transportation, but also provides the driver with a way of getting some physical exercise. Based on an investigation of the physiological decline accompanying aging, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pedal unit was mounted on a cart. An interface board that handles inputs and outputs was assembled to simplify the design of the system. Finally, a simple bilateral master-slave control system was built to test the cart. Experimental results on a fabricated cart demonstrate the effectiveness of pedaling and the usability of the system structure.

Development of a Pneumatic Force-Display (Application to a Master-Slave System)

AbstractIn this study we deal with a bilateral master-slave system composed of a pneumatic force-display as the master and a hydraulic servo system as the slave. In such systems the force-display must play two roles as master: first as a reference input device to the slave and second as a force-display device. The first purpose of this study is to develop a pneumatic force-display that consists of a pneumatic servo system. To achieve this, it is necessary to solve a problem called back-drivability, a characteristic of pneumatic servo systems. The second purpose is to investigate the compatibility of our thusly developed force-display with some representative methods of bilateral master-slave control systems in conventional use. In experiments to confirm such compatibility, the sensibility of load forces is estimated based on a master-slave system equipped with a spring to serve as a load. The experiments confirm that the developed force-display would be applicable to conventional methods of bilateral mast...

空気圧式力覚ディスプレイの開発とマスタ・スレーブ制御系への適用

In this study, we deal with a bilateral master-slave system composed of a pneumatic force-display, as the master, and a hydraulic servo system, as the slave. In such systems, the master, that is the force display, has to play two roles : first as a reference input device to the slave and secondly as a force display device. The first purpose of this study is to develop a pneumatic force-display which consists of a pneumatic servo system. For this purpose, it was necessary to solve a problem called back-drivability which attributes to pneumatic servo systems. The second purpose of this study is to investigate the compatibility of thus developed force display when applied to some representative methods of bilateral master-slave control systems in conventional use. In experiments for confirming compatibility of the force display, the sensibility of load forces is estimated based on the master-slave system in which a spring is equipped as a load. Consequently, it was confirmed that the developed force display would be applicable to conventional methods of bilateral master-slave systems.

異自由度マニピュレータ間におけるバイテラルマスタスレーブ制御

人間に代って, 危険な環境内で様々な作業を効果的に行う高度な遠隔操縦システムが必要とされている.従来のバイラテラル制御方式の操作性と作業性を改善するために, 異構造マニピュレータ間のバイラテラル制御方式が提案されている.本論文では, この手法の拡張について考察が行われている.新しく開発された方法では, 異なる構造とともに, 異なる自由度を有するマニピュレータを用いることが可能である.座標変換を行う際, 共通空間とその部分空間の概念が用いられている.本手法の実現性を調べるために, 2自由度と3自由度のマニピュレータを用いた実験が行われた.さらに, ジョイントダイナミクスの影響とその補償法について考察を行った.