doi:10.3850/978-981-08-7723-1_P152

ABSTRACT

In this research, we consider bilateral control with “Multiple-Master/Single-Slave (MM/SS)” system. MM/SS system is a bilateral teleoperation system with two master robots and one redundant slave. In recent years, a lot of researches on bilateral teleoperation with redundant bilateral system have been performed. However, human can only operate the interface by end-effector in conventional approach. It means that operation using middle point of the arm is not available. Besides, most conventional research dealing with autonomous posture control of manipulator based on obstacle information. In other words, human cannot independently operate posture according to the situation of the executing task by conventional approach. Using proposal approach human can independently operate posture according to the situation of the executing task by conventional method. Besides, “Bilateral Grasping Control” with MM/SS system is addressed as a example of “concrete tasks” in this research.

Keywords: Bilateral control, Redundant manipulator, Multiple-master/single-slave system, Bilateral grasping control, Nonidentical structure, Mode decomposition.

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