Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing

Gupta, Gourab Sen; Mukhopadhyay, Subhas Chandra; Messom, Chris; Demidenko, Serge

doi:10.1109/imtc.2005.1604566

Cited by 15 publications

(12 citation statements)

References 18 publications

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“…Until now, a variety of methods have been proposed for controlling a robot arm, such as the vision-based method [3], the sensor-based method [4][5][6], and the joystick-or master armbased method [7][8][9]. Due to the irreplaceable performance in unstructured and complicated subsea environments, the master arm-based method [10][11][12][13] is mostly used for controlling underwater manipulators, in which an operator controls a large slave arm by operating its miniature replica as a master arm.…”

Section: Development Of a Virtual Platform For Telepresence Control Omentioning

confidence: 99%

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Zhang

et al. 2017

IEEE Trans. Ind. Electron.

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Abstract-This paper develops a virtual platform of an underwater manipulator mounted on a submersible vehicle via the three-dimensional simulator "Webots" for teleoperation through a replica master arm. The graphical, kinematic, and dynamic models of the manipulator refer to a master-slave servo hydraulic manipulator with seven functions, consisting of six degrees of freedom and a parallel gripper, while the "Jiaolong" deep-manned submersible vehicle, operating below the sea surface down to 7000 m, is chosen as the underwater manipulator carrier. This study uses the virtual platform for training an operator to telepresence control the virtual manipulator to complete basic tasks in subsea environments. When training the operator, one has to consider uncertain external disturbances and the visual impacts that stem from subsea environments. In order to demonstrate the feasibility and effectiveness of the virtual platform, one designs two typical underwater operational tasks: grasping a marine organism sample and reaching at a given position. This paper presents the comparative studies: 1) the performances demonstrated by remotely controlling the virtual manipulator and the real manipulator; 2) the operating performances delivered by three operators before and after training when using the platform.Index Terms-Telepresence control, training an operator, underwater manipulator, virtual platform.

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Section: Development Of a Virtual Platform For Telepresence Control Omentioning

confidence: 99%

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Zhang

et al. 2017

IEEE Trans. Ind. Electron.

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“…Control effect will become worse with the variation of parameters, whereas sliding mode controller can track the target current [14]. Sliding-mode control is popular with its robust and insensitive properties to matched disturbance and model uncertainty [15][16][17]. In this paper, the sliding control with reaching law is adopted.…”

Section: The Establishment and Simulation Analysis Of The Forklifmentioning

confidence: 99%

Research of the Forklift Power-Assisted Steering System Based on Safety Steering Speed Control

Xiao

2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-Enhancing the safety of forklift power-assisted steering system is a problem urgently to be solved in practice. First of all, forklift power-assisted steering system model is established according to Lagrange dynamical equations, and three variable assistance characteristics curve fitted for reach trucks is designed combined with fuzzy control algorithm. Then sliding mode variable-structure control method based on motor current control is used tracking the target current and making contrast with the traditional PID in order to justify the validity of the algorithm. Finally, the expression of speed with tri-function is built. Optimization of safety speed is added on the basis of traditional power-assisted steering to ensure the stability and security of forklift steering.

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“…In traditional PSO [20,21,22] algorithm , every particle obtain the next better position according to the best global position and local position. In order to speed up the convergence of population, the population update mechanism based on opposition learning is proposed, which is described as below.…”

Section: The Population Update Mechanism Based On Opposition Learningmentioning

confidence: 99%

Opposition-Based Learning Particle SWARM Optimization of Running Gait for Humanoid Robot

Yang

Song

Deng

2015

International Journal on Smart Sensing and Intelligent Systems

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Abstract-This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed scheme of running gait generation, a population initiation policy based on domain knowledge is employed, which helps to guide searching direction guidance at the beginning. A population update mechanism based on opposition learning is proposed for speeding up the convergence and improving the diversity. Simulation results validate the proposed method.

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Master-Slave Control of a Teleoperated Anthropomorphic Robotic Arm with Gripping Force Sensing

Cited by 15 publications

References 18 publications

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Development of a Virtual Platform for Telepresence Control of an Underwater Manipulator Mounted on a Submersible Vehicle

Research of the Forklift Power-Assisted Steering System Based on Safety Steering Speed Control

Opposition-Based Learning Particle SWARM Optimization of Running Gait for Humanoid Robot

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