single-rb.php

JRM Vol.15 No.4 pp. 361-368
doi: 10.20965/jrm.2003.p0361
(2003)

Paper:

Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism

Dingxuan Zhao, Yupeng Xia, Hironao Yamada, and Takayoshi Muto

Department of Mechanical and Systems Engineering, Gifu University, 1-1, Yanagido, Gifu, 501-1193 Japan

Received:
September 2, 2002
Accepted:
April 24, 2003
Published:
August 20, 2003
Keywords:
virtual realty, tele-operation, construction robot, parallel mechanism, acceleration sensors
Abstract

In this study, we developed a construction tele-robotic system, which can be widely used, for example, for restoration works in damaged areas. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) parallel mechanism. An important problem to be solved in such a system is how to convey adequate presence of working area in a high quality to the operator. In this paper, we propose a control method of a 3-DOF parallel link mechanism to simulate the motion of the construction robot by using three acceleration sensors. The validity of this method has been confirmed experimentally. According to the experimental result, each motion of roll, pitch and heave of the construction robot can be simulated accurately by the 3-DOF parallel mechanisms.

Cite this article as:
Dingxuan Zhao, Yupeng Xia, Hironao Yamada, and Takayoshi Muto, “Control Method for Realistic Motion in a Construction Tele-robotic System with a 3-DOF Parallel Mechanism,” J. Robot. Mechatron., Vol.15, No.4, pp. 361-368, 2003.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 31, 2021