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JRM Vol.12 No.2 pp. 135-143
doi: 10.20965/jrm.2000.p0135
(2000)

Paper:

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

Received:
September 9, 1999
Accepted:
October 20, 1999
Published:
April 20, 2000
Keywords:
robot, control, telemanipulation, humanmachine cooperation, extended virtual tool, passivity
Abstract

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.

Cite this article as:
Tomotaka Itoh, Akitaka Ando, Fumiyoshi Omura, Takashi Matsui, Kazuhiro Kosuge, and Toshio Fukuda, “Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics,” J. Robot. Mechatron., Vol.12, No.2, pp. 135-143, 2000.
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