MASTER-SLAVE CONTROL METHOD WITH FORCE FEEDBACK FOR GRASPING SOFT OBJECTS USING A TELEOPERATION CONSTRUCTION ROBOT

Authors

  • Lingtao Huang Mechanical and Civil Engineering Division, Gifu University, Gifu, Japan
  • Takuya Kawamura Department of Human and Information Systems, Gifu University, Gifu, Japan
  • Hironao Yamada Department of Human and Information Systems, Gifu University, Gifu, Japan

Keywords:

construction machinery, robot, hydraulic actuator, master-slave control, force feedback

Abstract

The purpose of this research was to develop a control method that would provide an operator with a noticeable and reasonable sense of reaction force during slow grasping of a soft object. We examined a master-slave control system for a teleoperation construction robot comprised of two joysticks as the master that are used to manipulate the object from a remote location, and an excavator with four degrees of freedom consisting of a fork glove, swing, boom, and arm as the slave. In remote control systems, the operator must feel a reasonable sense of force from the fork glove feedback. We previously proposed a variable-gain velocity control system but found that the reaction force was insufficient and often undetectable to operators’ sensory receptors in the initial stage of the grasping task, and the reaction force did not appear as a stepwise relation to the increased driving force when grasping a foam block at a slow speed. Based on these earlier problems, we proposed an improved method that provides a noticeable torque and variable gain that changes with the hardness of the task object. Its effectiveness was verified by a concrete block, tire, and sponge foam block grasping experiment.

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Author Biographies

Lingtao Huang, Mechanical and Civil Engineering Division, Gifu University, Gifu, Japan

Lingtao Huang He received his BS and MS Mechanical Engineering from Jilin University, China, in 2003 and 2008, respectively. At present he is a Ph.D. student at Gifu University, Japan. His research interests include control system, fluid power system and virtual reality.

Takuya Kawamura, Department of Human and Information Systems, Gifu University, Gifu, Japan

Kawamura Takuya He graduated from Nagoya University, Japan in 1999 and received the Ph.D. degree from Nagoya University in 2002. He is currently an assistant professor with the Department of Human and Information Systems, Gifu University since 2007. His research interests include mechatronics, robotics and psychophysics. He is a member of Japan Society of Mechanical Engineers (JSME) and The Robotics Society of Japan (RSJ).

Hironao Yamada, Department of Human and Information Systems, Gifu University, Gifu, Japan

Hironao Yamada He received the Ph.D. degree from Nagoya University in 1991. He worked as research associate at Nagoya University and also became Visiting Research Fellow at Aachen Institute of Technology, German from 1992 to 1993. He is currently a professor with the Department of Human and Information Systems, Gifu University since 1994. His research interests include virtual reality, human interface, vision system and fluid power system. He is a member of Japan Society of Mechanical Engineer (JSME), Japan Fluid Power System (JFPS), Society of Instrument and Control Engineers (SICE), and The Virtual Reality Society of Japan(VRSJ).

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Published

2018-12-30

How to Cite

Huang, L., Kawamura, T., & Yamada, H. (2018). MASTER-SLAVE CONTROL METHOD WITH FORCE FEEDBACK FOR GRASPING SOFT OBJECTS USING A TELEOPERATION CONSTRUCTION ROBOT. International Journal of Fluid Power, 13(2), 41–49. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/236

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Original Article