To solve the problem encountered when spraying robot has run out of medicine even though task on field is not complete, we developed a spraying–dosing group and proposed collaborative navigation system based an orchard map. Firstly, constructed 3D point cloud map set up path points projected Secondly, master–slave command-based cooperative strategy, where was master dosing slave. Finally, compl...

In order to meet the needs of mobile robots to make the global path planning based on a given environment information, related mathematical model was established, and simulation results were given by using the dynamic programming algorithm. In the road traffic path planning, master robot communicates with multiple slave robots through the server, and collects information from slave robots to ad...

This paper presents the development of a force control loop in a teleoperation system with master and slave robotic devices. The force control based on current control loop has been applied to a teleoperation open platform consisting on electric master device, hydraulic slave robot and equipment for data acquisition and control programming. This force control loop is applied in each master join...

In this paper, synchronous multi-channel pulse width modulation (PWM) generator for driving servo motors of humanoid robot was proposed. an application, the requires smooth and beautiful movement, therefore PWM signal each motor must be synchronized. Since microcontroller (slave) has no enough channels to generate PWMs 32 motors, field programmable gate array (FPGA) used as slave robot. The FPG...

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics by using the passive-decomposition: the shape-system describing dynamics of the cooperative works, and the locked-system represe...

Our research concerned the development of an autonomous robotic navigation system for orchard harvesting with a dual master-slave mode, tractor transport robot being master followed by picking as slave. This addresses problem that in single agricultural combined equipment cannot stop repeatedly between rows apple trees and drive continuously when turning. According to distances obtained from gl...

In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators. They can simultaneously execute a task in a collaborative way or a trainee might haptically only observe the task, while an expert is in full control. The master devices are conn...

During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRIcompatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, ...

In this paper, we propose a linear parameter varying (LPV) control design approach for trajectory tracking in a robotic system, intended to be involved in an image-guided teleoperated cardiac surgery. The robot is eventually aimed to guide a 3 degree-of-freedom medical tool (a catheter) inside the left ventricle (LV) and achieve the implantation of a prosthetic aortic valve. The successful deli...

Abstruct-A teleoperator is a pair of robot manipulators connected in such a way as to allow an operator handling one manipulator (the master) to operate on a remote environment (via the slave). Feedback from slave to master increases the realism with which the operator interacts with the environment. Two-port models have been extensively used for the analysis of circuits in which bidirectional ...