BILATERAL CONTROL OF MASTER-SLAVE MANIPULATOR SYSTEM USING TIME DELAY CONTROL

Jong Kwang Lee, Hyo Jik Lee, Byung Suk Park, Seung-Nam Yu, Kiho Kim, Ho Dong Kim

Abstract

A prototype of dual arm master-slave manipulator system has been developed for use in a hot-cell at Korea Atomic Energy Research Institute. The slave manipulator can handle a 25 kgf payload in any posture, where the gravity force of remote tools or handling equipment has a great impact on the position error which produces the unnecessary force that operator does not have to feel. In this work, we applied a time delay controller for bilateral teleoperaiton of the manipulator system. Experimental results show that the time delay controller has good performance of the position tracking as well as force reflection.

References

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Paper Citation


in Harvard Style

Lee J., Lee H., Park B., Yu S., Kim K. and Kim H. (2011). BILATERAL CONTROL OF MASTER-SLAVE MANIPULATOR SYSTEM USING TIME DELAY CONTROL . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 37-42. DOI: 10.5220/0003535800370042


in Bibtex Style

@conference{icinco11,
author={Jong Kwang Lee and Hyo Jik Lee and Byung Suk Park and Seung-Nam Yu and Kiho Kim and Ho Dong Kim},
title={BILATERAL CONTROL OF MASTER-SLAVE MANIPULATOR SYSTEM USING TIME DELAY CONTROL},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={37-42},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003535800370042},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BILATERAL CONTROL OF MASTER-SLAVE MANIPULATOR SYSTEM USING TIME DELAY CONTROL
SN - 978-989-8425-75-1
AU - Lee J.
AU - Lee H.
AU - Park B.
AU - Yu S.
AU - Kim K.
AU - Kim H.
PY - 2011
SP - 37
EP - 42
DO - 10.5220/0003535800370042