Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 52nd Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 4F3-3
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Host: Institute of Systems, Control and Information Engineers

Cooperation Control of 1 master- 2 slave Manipulators with Force Feedback
*Mitsuhiro KIMURA, Masami KONISHI, Jun IMAI
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Keywords: master slave system, cooperative motion control, force feedback, bilateral control, manipulator with two arms
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Abstract
The cooperative motion control system which consists of a master and two slaves (slave 1, slave 2) with different structure was developed. A master and slave 1 are governed by a bilateral control to realize force feedback without time delay. Slave 2 follows up the movement of slave 1 autonomously governed by position control. Experiment that two slaves hold object move with 2 [N] according to the manipulation of the master was carried out.
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© 2008 The Institute of Systems, Control and Information Engineers
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