Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics
Tomotaka Itoh*, Akitaka Ando**, Fumiyoshi Omura*, Takashi Matsui*, Kazuhiro Kosuge*** and Toshio Fukuda****
*Dept. of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku Hamatsu, Shizuoka, 432-8561 Japan
**Nagoya Machinery Works, Mitsubishi Heavy Industries Ltd. Takamich-1, Iwatsuka-cho Nakamura-ku Nagoya, 453-8515 Japan
***Dept. of Machine Intelligence and Systems Eng. Aramaki-Aoba Aobaku Sendai, 980-8579 Japan
****Center for Cooperative Research in Advanced Science and Technology Furou-cho, Chigusa-ku Nagoya, 464-8603 Japan
This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm, the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.
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