JP5105450B2 - マスタスレーブシステム及びその制御方法 - Google Patents

マスタスレーブシステム及びその制御方法 Download PDF

Info

Publication number
JP5105450B2
JP5105450B2 JP2010056978A JP2010056978A JP5105450B2 JP 5105450 B2 JP5105450 B2 JP 5105450B2 JP 2010056978 A JP2010056978 A JP 2010056978A JP 2010056978 A JP2010056978 A JP 2010056978A JP 5105450 B2 JP5105450 B2 JP 5105450B2
Authority
JP
Japan
Prior art keywords
master
slave
robot
force
displacement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2010056978A
Other languages
English (en)
Japanese (ja)
Other versions
JP2011189445A5 (cg-RX-API-DMAC7.html
JP2011189445A (ja
Inventor
克弥 金岡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ritsumeikan Trust
Original Assignee
Ritsumeikan Trust
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ritsumeikan Trust filed Critical Ritsumeikan Trust
Priority to JP2010056978A priority Critical patent/JP5105450B2/ja
Priority to PCT/JP2011/056692 priority patent/WO2011115287A1/ja
Publication of JP2011189445A publication Critical patent/JP2011189445A/ja
Publication of JP2011189445A5 publication Critical patent/JP2011189445A5/ja
Application granted granted Critical
Publication of JP5105450B2 publication Critical patent/JP5105450B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2010056978A 2010-03-15 2010-03-15 マスタスレーブシステム及びその制御方法 Active JP5105450B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2010056978A JP5105450B2 (ja) 2010-03-15 2010-03-15 マスタスレーブシステム及びその制御方法
PCT/JP2011/056692 WO2011115287A1 (ja) 2010-03-15 2011-03-15 マスタスレーブシステム及びその制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010056978A JP5105450B2 (ja) 2010-03-15 2010-03-15 マスタスレーブシステム及びその制御方法

Publications (3)

Publication Number Publication Date
JP2011189445A JP2011189445A (ja) 2011-09-29
JP2011189445A5 JP2011189445A5 (cg-RX-API-DMAC7.html) 2012-07-19
JP5105450B2 true JP5105450B2 (ja) 2012-12-26

Family

ID=44649366

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2010056978A Active JP5105450B2 (ja) 2010-03-15 2010-03-15 マスタスレーブシステム及びその制御方法

Country Status (2)

Country Link
JP (1) JP5105450B2 (cg-RX-API-DMAC7.html)
WO (1) WO2011115287A1 (cg-RX-API-DMAC7.html)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015068716A1 (ja) 2013-11-07 2015-05-14 マッスル株式会社 マスタスレーブシステム
JP2015208829A (ja) * 2014-04-30 2015-11-24 学校法人立命館 マスタスレーブシステム

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101765952B1 (ko) 2011-11-29 2017-08-08 현대자동차주식회사 착용식 로봇의 제어방법 및 제어장치
CN103085054B (zh) * 2013-01-29 2016-02-03 山东电力集团公司电力科学研究院 带电抢修机器人主从式液压力反馈机械臂控制系统及方法
JP6244565B2 (ja) * 2013-08-19 2017-12-13 株式会社人機一体 マスタスレーブシステム
JP7237942B2 (ja) * 2017-05-17 2023-03-13 ティペット，ジョナサン ジョイントのための制御システムおよびその操作方法
CN108500983B (zh) * 2018-06-26 2023-06-16 西华大学 一种非线性遥操作双边控制系统
CN109015634B (zh) * 2018-07-24 2021-07-06 西北工业大学 基于性能函数的多臂遥操作机器人力/位置混合控制方法
CN113165161B (zh) * 2018-12-21 2024-02-06 川崎重工业株式会社 机器人系统以及机器人系统的控制方法
CN112936278B (zh) * 2021-02-07 2022-07-29 深圳市优必选科技股份有限公司 机器人的人机协作控制方法、装置和机器人
CN113842165B (zh) * 2021-10-14 2022-12-30 合肥合滨智能机器人有限公司 便携式远程超声扫查系统与安全超声扫查柔顺控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003025259A (ja) * 2001-07-19 2003-01-29 Yaskawa Electric Corp ロボットの遠隔操作方法およびその遠隔操作システム
EP2104455A2 (en) * 2006-09-25 2009-09-30 Koninklijke Philips Electronics N.V. Haptic feedback medical scanning methods and systems
JP2008194789A (ja) * 2007-02-14 2008-08-28 Shin Meiwa Ind Co Ltd 力覚提示装置、および、それを備えたパワーアシストアームおよびパワーアシスト装置
JP2009012125A (ja) * 2007-07-05 2009-01-22 Shin Meiwa Ind Co Ltd パワーアシストロボット
JP5013530B2 (ja) * 2008-01-29 2012-08-29 新明和工業株式会社 ロボット操作入力装置およびそれを備えたロボット

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015068716A1 (ja) 2013-11-07 2015-05-14 マッスル株式会社 マスタスレーブシステム
US9855653B2 (en) 2013-11-07 2018-01-02 Muscle Corporation Master-slave system
JP2015208829A (ja) * 2014-04-30 2015-11-24 学校法人立命館 マスタスレーブシステム

Also Published As

Publication number Publication date
WO2011115287A1 (ja) 2011-09-22
JP2011189445A (ja) 2011-09-29

Similar Documents

Publication Publication Date Title
JP5105450B2 (ja) マスタスレーブシステム及びその制御方法
EP3138665B1 (en) Master and slave system
EP3067162B1 (en) Master-slave system
CN102470531B (zh) 机器人、机器人的控制装置及控制方法
JP4930100B2 (ja) 力触覚ディスプレイ、力触覚ディスプレイの制御方法、並びにコンピュータ・プログラム
Park et al. Force feedback based gripper control on a robotic arm
Mamdouh et al. Evaluation of a proposed workspace spanning technique for small haptic device based manipulator teleoperation
Poitrimol et al. Haptic interface for virtual reality based on hybrid Cable-Driven parallel robot
JP4842561B2 (ja) 力覚コントローラ装置
Yan et al. ACE-f: A cross embodiment foldable system with force feedback for dexterous teleoperation
Kurihara et al. Development of haptic feedback control stick for remote control between different structures
Mazaki et al. Haptic Feedback Rover Navigation Based on Positional Gain Adjusting Bilateral Control
CN202367749U (zh) 具有力感觉的六自由度操作端
Buss et al. High fidelity telepresence systems: Design, control, and evaluation
Reddy et al. Digital Twin of a 5-Bar Parallel Manipulator with Singularity Avoidance
Tanida et al. Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors
KR20190001842A (ko) 다관절 햅틱 장치의 성능 평가 시스템 및 이를 이용한 성능 평가 방법
Dills et al. Transparent, High-Force, and High-Stiffness Control of Haptic Actuators with Backlash: A Multi Degree of Freedom Approach
Ferreira et al. Development of a teleoperated micromanipulation system with visual and haptic feedback
Elnwegy et al. Multi-Layered control of a bilateral haptic telemanipulation setup using collaborative UR10e robots
Tiong et al. TactiSync: A Sensor-Actuator Integrated Haptic Feedback System for Robotic Operation
Okiyama et al. Integration of robot task and human skill with bilateral control
Yang et al. A novel master interface using vibrotactile display for bi-lateral teleoperation
Daun et al. Dynamics modelling and hybrid control of the 6-UPS platform
JP2012125851A (ja) マスタ・スレーブ型ロボット操作システム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120605

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20120605

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20120605

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20120717

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120725

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120829

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120926

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

Ref document number: 5105450

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20151012

Year of fee payment: 3

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313532

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20151012

Year of fee payment: 3

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250