MATEC Web Conf.
Volume 108, 20172017 International Conference on Mechanical, Aeronautical and Automotive Engineering (ICMAA 2017)
|Number of page(s)||5|
|Section||Design and Development of Robot Systemg|
|Published online||31 May 2017|
An Experimental Study on Operability of Master-Slave Manipulator System using Human–in–the-Loop Type Simulator
1 National Institute of Technology, Kumamoto College, 2659-2 Suya, Koshi, Kumamoto
2 Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu-shi, Fukuoka, Japan
Double arm Master-Slave (M-S) manipulator has been attracted the attention of the robotics researchers today. The micro surgery is one of the big targets which M-S manipulator is expected to effectively perform. This paper describes about the human in the loop (HIL) simulator consisted of the prototype master manipulator and the virtual simulator of slave manipulator. Today, we have a challenge injecting drugs to a chick embryo’s blood vessels that are enough cultured in an artificial eggshell. The M-S manipulator is expected to apply for such a work like a micro surgery, ex. catching a blood vessel and sticking a cylinder. The embryo is extremely sensitive so that M-S manipulator should have both high operability and high accuracy movement. To evaluate the M-S manipulator quantitatively, we develop the human in the loop (HIL) simulator. The simulator is consisted with the prototype master manipulator and the virtual slave manipulator.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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