Cooperative Control of Two Robots by Remote Operation

Kazunori Okumura; Seizo Fujii; Zibo Kang

doi:10.11499/sicep.2002.0.702.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.702.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Cooperative Control of Two Robots by Remote Operation

Kazunori Okumura, Seizo Fujii, Zibo Kang

Author information

Keywords: Cooperative control, master robot, slave robot, hybrid control, impedance control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 702

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Abstract

A cooperative control of two robots by remote operation is proposed in this paper. The two slave robots are controlled simultaneously by another remote master robot that is manipulated by a human operator. Force-reflection bilateral control method is adopted in the master and slave robots control to make the operator manipulate the robots smoothly. In order to make the two slave robots act cooperatively to catch, carry and set an object two methods of hybrid control and impedance control are used and compared to control the two slave robots.

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