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Development of Underwater Bilateral Control by Using Manipulator with Module Structure | IEEE Conference Publication | IEEE Xplore

Development of Underwater Bilateral Control by Using Manipulator with Module Structure


Abstract:

This paper proposes an underwater bilateral control method by using a manipulator with a module structure. For the realization of the underwater bilateral control, the wa...Show More

Abstract:

This paper proposes an underwater bilateral control method by using a manipulator with a module structure. For the realization of the underwater bilateral control, the waterproof manipulator is designed. This developed manipulator has the module structure which has advantages for a multi-degrees-of-freedom system and its maintenance. The module structure consists of a motor, an encoder, a magnetic coupling and gears. The waterproof in this manipulator is achieved by using the magnetic coupling, since the motor torque is transmitted from the motor side to the load side by using the magnetic force. The underwater bilateral control was implemented in this manipulator. In the experiments, the comparison between the bilateral controls in the atmosphere and the water was conducted. From the experimental results, the validity of the module structure and the underwater bilateral control was confirmed.
Date of Conference: 24-27 August 2018
Date Added to IEEE Xplore: 15 November 2018
ISBN Information:
Conference Location: Shenyang, China

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