Event based controller has been implemented to teleoperate the real mobile robot efficiently. The system consists of master haptic device, slave robot and a communication network. On master side with the help of visual aid and real time force feedback acting on the robot the operator control and navigate the robot and receive sensory feedback. Environmental force which is acting on slave robot ...

The research investigates a new method of control for telemanipulators called bilateral impedance control. This new method differs from previous ap"roaches in that interaction forces are used as the communication signals betWeen the master and slave rooots. The main advantage of bilateral impedance control is that it permits the arbitrary specification of desired system performance characterist...

A Conro reconfigurable robot is formed by joining a set of self-contained modules in a particular configuration; the actions of the robot are the result of the coordinated actions of its modules. These actions can be controlled using a master-slave approach only i f the master can m a p the particular configuration of the robot to one that it already knows how t o control. In this paper we disc...

In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...

This paper presents a master-slave system applied to the remote diagnosis from echographic data. The motion of the master manipulator is remotely controlled by a physician and reproduced by a slave robot carrying the echographic probe. The contact force between the probe and the patient is fed back to operator allowing him to have a haptic virtual environment. The innovation of this haptic cont...

Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a mult...

A multi-agent type robot for disaster response in calamity scene is proposed in this paper. The proposed grouped rescue robots can perform cooperative reconnaissance and surveillance to achieve a given rescue mission. The multi-agent rescue of dual set robot consists of one master set and three slave units. The research for this rescue robot system is going to detect at harmful environment wher...

Robotic systems for master-slave teleoperation with haptic feedback capability have been used in diverse areas such as surgical simulation and telerehabilitation. Such systems have not yet been used by children with disabilities who can potentially control the master human-machine interface to sense and manipulate objects using the slave robot. This paper presents a comparison of candidate robo...

1. Telerobotic Performance Specifications A telerobotic system (Figure 1) consists of a master robot and a slave robot. For me telerobotic system, me designer can specify me desired behavior [2,13]. For example, me designer may want a dynamic behavior in which me human operator senses scaled-down values o( me forces which me slave robot senses when maneuvering an object, To achieve mis, a contr...

This article presents an adaptive control scheme based on position-force architecture to achieve the stability and transparency for teleoperation in unknown or varying environments. Without any knowledge about the parameters of the slave robot and environment dynamics, the proposed scheme guarantees the robustness to the parameter uncertainties of the master robot as well as the stability of th...