Using analog wireless communication, we demonstrate a master–slave load-sharing control of a parallel dc–dc buck converter system, thereby eliminating the need for physical connection to distribute the control signal among the converter modules. The current reference for the slave modules is provided by the master module using radio-frequency (RF) transmission, thereby ensuring even sharing of ...

This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning inaccuracy and instability. Hence, a LuGre fric...

Surgical teleoperation systems are being increasingly deployed. There are, however, remaining issues such as nonlinear characteristics of the interaction between the slave robot and soft tissues, and difficulty in employing force sensors in the surgical end-effectors of the slave. These issues make it difficult to offer a general approach to designing the overall control structure. This paper a...

In this paper, an optimal adaptive sliding mode controller is proposed for anti-synchronization of two identical hyperchaotic systems. We use hyperchaotic complex T-system for master and slave systems with unknown parameters in the slave system. To construct the optimal adaptive sliding mode controller, first a simple sliding surface is designed. Then, the optimal adaptive sliding mode controll...

We developed the robotic arm for a master-slave system to support “mutual telexistence,” which realizes close physical communication with other people using gestures and remote dexterous manipulation tasks. In this paper, we describe the specifications of the experimental setup of the master-slave arm for demonstration of the feasibility of the mutual telexistence concept. We developed the mast...

This paper presents a fundamental study of remote manipulator system, to be applied to the assembling precise and small parts, the handling of medical samples in a culture cabinet and so on. This system consists of a small and precise slave manipulator and a master manipulator of which the size is adapted to a human operator. Displacement of the master manipulator is reduced and transferred to ...

A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell [1]. Unlike a robot manipulator, a servo manipulator is monitored and controlled by an operator all the time. A robot manipulator performs a taught or programmed task without an operator. Generally, a servo manipulator consists of a master arm and a slave arm. The slave arm is a device for wo...

The paper presents a multi-axis motion controller based on DSP (Digital Signal Processor) and FPGA (Field Programmable Gate Array) to meet the communication demands of modern complex control systems. In details, the paper first introduces a design method of the structure of the motion controller which is based on PC. This controller consists of FIFO (First In First Out) circuit block and baud r...