Bilateral control considering singularity based on observation of torque error

Kazuki Nagase, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular configuration due to the inverse Jacobian matrix becomes the problem in a bilateral control with different configurations. In this paper, the problem of a singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method. In addition, an error observation method of a torque regarding the singularity-consistent method is proposed. And, the bilateral control system consists of a parallel link manipulator and a serial link manipulator. When the direct kinematics of the parallel link manipulator is derived, mode decoupling method is introduced. Finally, proposed method and sc method are applied to the bilateral control system with different configurations, its system is realized and the error of the torque due to singularityconsistent method is observed. The experimental results of the bilateral control with different configurations are shown.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages744-749
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Nagase, K., & Katsura, S. (2010). Bilateral control considering singularity based on observation of torque error. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 744-749). [5464036] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464036