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

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

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 publication2005 IEEE Instrumentationand Measurement Technology Conference Proceedings
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2203-2208
Number of pages6
Volume3
ISBN (Print)0780388798, 9780780388796, 078038248X, 0780388801
DOIs
Publication statusPublished - May 2005
Externally publishedYes
EventIMTC'05 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference - Ottawa, ON, Canada
Duration: 16 May 200519 May 2005

Publication series

NameIEEE International Instrumentation and Measurement Technology Conference
PublisherIEEE
ISSN (Print)1091-5281

Other

OtherIMTC'05 - Proceedings of the IEEE Instrumentation and Measurement Technology Conference
CountryCanada
CityOttawa, ON
Period16/05/0519/05/05

Keywords

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

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  • 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 2005 IEEE Instrumentationand Measurement Technology Conference Proceedings (Vol. 3, pp. 2203-2208). [1604566] (IEEE International Instrumentation and Measurement Technology Conference). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IMTC.2005.1604566