Paper Info
Title
A new type of master robot for teleoperation using a radial wire drive system
Abstract
A new type of master robot for teleoperation is proposed. In the proposed master robot, several wires are stretched from a handle which is moved by a human operator. In this paper, the authors explain how many wires are necessary to control a handle with six degrees of freedom in a three dimensional space. Moreover, to feed forces from a slave robot to the handle, an algorithm to determine each wire tension is proposed. Finally, they show experimental results in which a handle is moved by seven wires in a three dimensional space
Year
DOI
Venue
1993
10.1109/IROS.1993.583079
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference
Keywords
Field
DocType
telerobotics,human operator,master robot,radial wire drive system,slave robot,teleoperation
Teleoperation,Three-dimensional space,Computer science,Simulation,Control theory,Six degrees of freedom,Control engineering,Robot,Master/slave,Pulley,Telerobotics,Actuator
Conference
Volume
ISBN
Citations 
1
0-7803-0823-9
47
PageRank 
References 
Authors
16.21
4
2
Name
Order
Citations
PageRank
Sadao Kawamura14716.21
Ito, K.26619.68