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Position and impedance force control of tele-operated master-slave robot hand system

Published online by Cambridge University Press:  10 November 2005

Hui Shao ,
Kenzo Nonami  and
Tytus Wojtara
Hui Shao
Affiliation:
Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Kenzo Nonami
Affiliation:
Dept. of Electronics and Mechanical Engineering, Chiba University, Yayoi-cho, 1-33, Inage-ku, Chiba-shi 263-8522 (Japan). E-mail: nonami@faculty.chiba-u.jp
Tytus Wojtara
Affiliation:
Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
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Abstract

The paper developed a robust position tracking scheme with a neuro-fuzzy inverse model velocity controller of a tele-operated master-slave robot hand system for demining. And by using impedance force control and a two-posture recognition Neural Network (NN) a smooth grasping and releasing action is realized.

Keywords

Tele-operated systemMaster-slave hand
Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005 , pp. 793
Copyright
© 2005 Cambridge University Press

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