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— In this paper, we propose RT-Middleware for robot system integration. " RT " means " Robot Technology " , which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements(More)
The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design, " IEEE J. decomposition-based control for generalized high-dimensional robotic systems with complicated structure, " IEEE Trans. Abstract—In our previous research, we developed space robot teleop-eration technology to achieve control from(More)
— This paper proposes RT-Component object model in RT-Middleware for robot system integration. " RT " means " Robot Technology " , which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-Middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at(More)
SUMMARY In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both(More)
We present design of a compact haptic device in which parallel mechanisms are utilized. The design realizes a large workspace of orientational motion in a compact volume of the device. The device is a parallel-serial mechanism consisting of a modified DELTA mechanism for translational motion and a spatial five-bar gimbal mechanism for orientational motion.(More)
In our previous works, we have proposed a mixed force and motion commands-based space robot teleop-eration system and a compact 6-DOF haptic interface to achieve an effective manual teleoperation. Until now, the effectiveness of this system and the haptic interface has been confirmed by the experiments in our laboratory. The most important features of this(More)