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In this research a bilateral control in hydraulic servo system for end-effector of master-slave manipulator is proposed. End-Effector of hydraulic servo system is used in dismantling nuclear power plant. A bilateral control strategy in hydraulic servo system is recommends for the robust position tracking between the master and slave. Sliding mode control with sliding Perturbation observer (SMCSPO)...
In the bilateral servo control system of a teleoperation master-slave robot in which both the master and slave manipulators are actuated by hydraulic device, a new force feedback algorithm is proposed for the boom and arm DOF of the slave robot (including the 4 DOF such as swing, boom, arm, and fork glove) based on the improved parallel control method. To acquire accurate interactive force between...
In this paper, we describe the development of remote robotic systems for use in a nuclear environment at Korea Atomic Energy Research Institute. Remote robotic systems were designed and developed to be used in a highly radioactive zone of a hot-cell or a completely sealed argon gas cell because human workers cannot have access to the in-cell during a cell operation. These remote robotic systems are...
We propose a remote bilateral control method of master-slave manipulators with an environment observer. The adaptive environment observer estimates characteristics of the environment in a remote place. Thus, the system predicts a virtual environment that is generated by a real environment. The proposed system exhibits good operatability and tracking when the slave system presses a compliant wall under...
This paper presents a new assist control method for the positioning task of master-slave manipulators. The considered manipulator has a flexible slave arm, which causes deterioration of both the positioning accuracy and the maneuverability owing to elastic vibration of the slave arm. In order to improve the positioning accuracy and reduce operator's load, an assist control method is proposed by partly...
This paper presents a discrete design and control method of teleoperation systems. The design method is based on the state space formulation and it allows to obtain the control gains for any teleoperation system where the master and the slave manipulators would be represented by nth-order discrete linear transfer functions. The control method allows that the slave follows the master through the state...
This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality...
In neurosurgery, surgeons have to perform minute and precise manipulations with poor visibility due to blood or cerebrospinal fluid. It is particularly difficult to operate in the deep surgical field. The authors have developed a microsurgical robotic system for the neurosurgery which overcomes these difficulties with precision of mechanical system. However, it was difficult for surgeons to operate...
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