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Authors: Jong Kwang Lee ; Hyo Jik Lee ; Byung Suk Park ; Seung-Nam Yu ; Kiho Kim and Ho Dong Kim

Affiliation: Korea Atomic Energy Research Institute, Korea, Republic of

Keyword(s): Time delay control, Master-slave manipulator, Teleoperation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Telerobotics and Teleoperation

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 37-42. DOI: 10.5220/0003535800370042

@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 1: ICINCO},
year={2011},
pages={37-42},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003535800370042},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - BILATERAL CONTROL OF MASTER-SLAVE MANIPULATOR SYSTEM USING TIME DELAY CONTROL
SN - 978-989-8425-75-1
IS - 2184-2809
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
PB - SciTePress

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