Cooperative control using multiple manipulators with different command inputs

Kiyotaka Izumi, Keigo Watanabe, Takeshi Hirao, Manabu Misumi

Research output: Contribution to journalArticlepeer-review


A cooperative system is constructed by the master/slave method using two manipulators which have different kind of control inputs. One manipulator is a pantagraph-type with two degree-of-freedom (DOF), while the other is an industrial type which has five DOF and a six DOF force sensor. The effectiveness of this scheme is demonstrated via experimental studies.

Original languageEnglish
Pages (from-to)419-431
Number of pages13
JournalSystems Analysis Modelling Simulation
Issue number2
Publication statusPublished - 2000
Externally publishedYes

ASJC Scopus subject areas

  • Modelling and Simulation
  • Applied Mathematics


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