Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator

Yuanzhen Niu; Dehui Wu; Ge Huang; Meijian Yang; Jintao An; Guanyang Liu

doi:10.1109/ROBIO64047.2024.10907349

Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator

Yuanzhen Niu
, Dehui Wu
, Ge Huang
, Meijian Yang
, Jintao An
, Guanyang Liu^*

^*此作品的通讯作者

机械工程及自动化学院

Beihang University
China Nuclear Power Engineering Co.,Ltd.
Chinese Academy of Sciences

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.

源语言	英语
主期刊名	2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1123-1130
页数	8
版本	2024
ISBN（电子版）	9781665481090
DOI	https://doi.org/10.1109/ROBIO64047.2024.10907349
出版状态	已出版 - 2024
活动	2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 - Bangkok, 泰国期限: 10 12月 2024 → 14 12月 2024

会议

会议	2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024
国家/地区	泰国
市	Bangkok
时期	10/12/24 → 14/12/24

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10.1109/ROBIO64047.2024.10907349

其它文件与链接

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引用此

@inproceedings{75c6b6eabaec485e875d29db976b0bd2,

title = "Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator",

abstract = "This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.",

author = "Yuanzhen Niu and Dehui Wu and Ge Huang and Meijian Yang and Jintao An and Guanyang Liu",

note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 ; Conference date: 10-12-2024 Through 14-12-2024",

year = "2024",

doi = "10.1109/ROBIO64047.2024.10907349",

language = "英语",

pages = "1123--1130",

booktitle = "2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "美国",

edition = "2024",

}

Niu, Y, Wu, D, Huang, G, Yang, M, An, J & Liu, G 2024, Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator. 在 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024. 2024 编辑, Institute of Electrical and Electronics Engineers Inc., 页码 1123-1130, 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024, Bangkok, 泰国, 10/12/24. https://doi.org/10.1109/ROBIO64047.2024.10907349

Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator. / Niu, Yuanzhen; Wu, Dehui; Huang, Ge 等.
2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024. 2024. 编辑 Institute of Electrical and Electronics Engineers Inc., 2024. 页码 1123-1130.

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator

AU - Niu, Yuanzhen

AU - Wu, Dehui

AU - Huang, Ge

AU - Yang, Meijian

AU - An, Jintao

AU - Liu, Guanyang

PY - 2024

Y1 - 2024

N2 - This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.

AB - This paper presents an innovative approach to teleoperation using force feedback manipulators, emphasizing the development of a flexible master-slave control system. By allowing both the master and slave arms to interchangeably control and respond to each other, the system enhances adaptability in remote environments. Through real-time joint and endpoint control modes, users can experience a heightened sense of immersion and accuracy in controlling manipulators. Experimental results demonstrate the system's capability to maintain consistent feedback and alignment, significantly improving remote task execution efficiency and reliability.

UR - https://www.scopus.com/pages/publications/105001481416

U2 - 10.1109/ROBIO64047.2024.10907349

DO - 10.1109/ROBIO64047.2024.10907349

M3 - 会议稿件

AN - SCOPUS:105001481416

SP - 1123

EP - 1130

BT - 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

Y2 - 10 December 2024 through 14 December 2024

ER -

Flexible Master-Slave Teleoperation Control System Based on Force Feedback Manipulator

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