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

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

doi:10.1109/IMTC.2005.1604566

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

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

Malaysia Sch of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

6 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 language	English
Title of host publication	IMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference
Subtitle of host publication	Fairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005
Place of Publication	USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	2203 - 2208
Number of pages	6
ISBN (Print)	0780388801
DOIs	https://doi.org/10.1109/IMTC.2005.1604566
Publication status	Published - 2005
Event	IEEE International Instrumentation and Measurement Technology Conference 2005 - Ottawa, Canada Duration: 16 May 2005 → 19 May 2005 Conference number: 22nd https://ieeexplore.ieee.org/xpl/conhome/10678/proceeding?isnumber=33710 (Proceedings)

Conference

Conference	IEEE International Instrumentation and Measurement Technology Conference 2005
Abbreviated title	I2MTC 2005
Country/Territory	Canada
City	Ottawa
Period	16/05/05 → 19/05/05
Internet address	https://ieeexplore.ieee.org/xpl/conhome/10678/proceeding?isnumber=33710 (Proceedings)

Keywords

Teleoperation
Force feedback
Robotic arm
Force sensing
Master-slave control

Access to Document

10.1109/IMTC.2005.1604566

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

Gupta, G. Sen ; Mukhopadhyay, S. C. ; Messom, C. H. et al. / Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing. IMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference: Fairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005. USA : IEEE, Institute of Electrical and Electronics Engineers, 2005. pp. 2203 - 2208

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keywords = "Teleoperation, Force feedback, Robotic arm, Force sensing, Master-slave control",

author = "Gupta, {G. Sen} and Mukhopadhyay, {S. C.} and Messom, {C. H.} and S. Demidenko",

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pages = "2203 -- 2208",

booktitle = "IMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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note = "IEEE International Instrumentation and Measurement Technology Conference 2005, I2MTC 2005 ; Conference date: 16-05-2005 Through 19-05-2005",

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Gupta, GS, Mukhopadhyay, SC, Messom, CH & 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. IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 2203 - 2208, IEEE International Instrumentation and Measurement Technology Conference 2005, Ottawa, Ontario, Canada, 16/05/05. https://doi.org/10.1109/IMTC.2005.1604566

Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing. / Gupta, G. Sen; Mukhopadhyay, S. C.; Messom, C. H. et al.

IMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference: Fairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005. USA : IEEE, Institute of Electrical and Electronics Engineers, 2005. p. 2203 - 2208.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - 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.

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KW - Force feedback

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KW - Force sensing

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Gupta GS, Mukhopadhyay SC, Messom CH, Demidenko S. 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. USA: IEEE, Institute of Electrical and Electronics Engineers. 2005. p. 2203 - 2208 https://doi.org/10.1109/IMTC.2005.1604566

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

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Keywords

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