A realization of multilateral force feedback control for cooperative motion

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes a novel control design for multilateral system considering different degrees of freedom (DOF) and structure. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for bilateral and/or multilateral control for dexterous tasks including grasping motion. The paper introduces spatial mode transformation, which is corresponding to human's tasks. The spatial modes are abstracted by using mode quarry matrices. The order of the mode quarry matrices means the task DOF, and the decoupled modes correspond to "translational task", "yawing task", "grasping task", and so on. Thus the problems for motion integration of different DOF and structure are solved to design multilateral controller in the spatial mode coordinate systems. Furthermore, the proposed multilateral control is designed based on acceleration control to realize both the force servoing and the position regulator for action-reaction law in remote environment simultaneously. The proposed multilateral control is applied for a multimaster/single-slave system, where the DOF is different from each other. As a result, a complicated task for slave system is easily realized by two master system with vivid force feedback based on modal control design of the multilateral system. The experimental results show viability of the proposed method.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages340-345
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Katsura, S., Suzuyama, T., & Ohishi, K. (2006). A realization of multilateral force feedback control for cooperative motion. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 340-345). [4237715] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372393