1A1-B20 An Implementation of Multi-robot Micromanipulation System over Delayed Network
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概要
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A Control Strategy for Multi-robot Tele-micromanipulation over delayed network is described. In this paper, several simulations and semi-experiments(i.e. real master and simulated slaves) are performed to prove the validity of the proposed control scheme and tele-micro design methodology. We first decompose the dynamics of multiple slaves into two decoupled systems which are the shape system describing cooperative tweezing aspect and the locked system while preserving energetic passivity. Scattering based communication is used to passify the master-slave communication delay.
- 一般社団法人日本機械学会の論文
著者
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Hwang Gilgueng
Institute Of Industrial Science The University Of Tokyo
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Hashimoto Hideki
Institute Of Industrial Science The University Of Tokyo
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Preeda Chantanakajornfung
Institute of Industrial Science, The University of Tokyo
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Preeda Chantanakajornfung
Institute Of Industrial Science The University Of Tokyo
関連論文
- Development of a single-master multi-slave tele-micromanipulation system
- Position estimation of a mobile robot using images of a moving target in intelligent space with distributed sensors
- Intelligent Space-concept and contents
- Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor
- Surface Deformation Displays for Virtual Environment Using the Fuzzy Model(Human Communication I)
- Scaled teleoperation system for nano-scale interaction and manipulation
- Operability Evaluation of Shared Controlled Multiple Cooperative Robots (特集 相互作用と賢さ)
- Preface
- 2P1-E14 Cognitive Vision Inspired Feature Understanding in Intelligent Space
- 2A2-K05 Retina Inspired Edge Detection for Robot Vision
- 1A1-B20 An Implementation of Multi-robot Micromanipulation System over Delayed Network
- 研究解説 Physical Agent in Intelligent Space (小特集 Roboticsの展開)
- 2P1-E15 Control Strategy of Mobile Robot Based on Intelligent Space
- Effect of Scaling on the Performance and Stability of Teleoperation Systems Interacting with Soft Environments
- Tracking of Humans and Robots Using Laser Range Finders