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

  • Authors:

  • Hui Shao;Kenzo Nonami;Tytus Wojtara

  • Affiliations:

  • Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).;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;Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).

  • Venue:
  • Robotica
  • Year:
  • 2005

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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.