Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing

G. Sen Gupta, S. C. Mukhopadhyay, C. H. Messom, S. Demidenko

    Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

    2 Citations (Scopus)

    Abstract

    This paper details methods of solving problems that are encountered when human beings teleoperate robots. Special emphasis has been given to the ease of operation and some form of force sensation. Through the use of a rigid control rig, fitted to the user’s arm, it is possible to easily control an anthropomorphic robot arm using a master-slave control methodology. The force being exerted by the arm is measured and fed back to the user who is operating the master unit.
    Original languageEnglish
    Title of host publicationIMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference
    Subtitle of host publicationFairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005
    Place of PublicationUSA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages2203 - 2208
    Number of pages6
    ISBN (Print)0780388801
    DOIs
    Publication statusPublished - 2005
    Event22nd IEEE Instrumentation and Measurement Technology Conference - Ottawa, ON, Canada
    Duration: 16 May 200519 May 2005
    Conference number: 22

    Conference

    Conference22nd IEEE Instrumentation and Measurement Technology Conference
    Abbreviated titleIMTC '05
    CountryCanada
    CityOttawa, ON
    Period16/05/0519/05/05

    Keywords

    • Teleoperation
    • Force feedback
    • Robotic arm
    • Force sensing
    • Master-slave control

    Cite this

    Gupta, G. S., Mukhopadhyay, S. C., Messom, C. H., & Demidenko, S. (2005). Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing. In IMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference: Fairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005 (pp. 2203 - 2208). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IMTC.2005.1604566