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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages744-749
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Manipulators
Torque
Jacobian matrices
Singularity
Control systems
Manipulator
Configuration
Inverse matrix
Control System
Jacobian matrix
Kinematics
Observation
Decoupling
Experimental Results

ASJC Scopus subject areas

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

Cite this

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

Bilateral control considering singularity based on observation of torque error. / Nagase, Kazuki; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. 2010. p. 744-749 5464036.

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

Nagase, K & Katsura, S 2010, Bilateral control considering singularity based on observation of torque error. in International Workshop on Advanced Motion Control, AMC., 5464036, pp. 744-749, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464036
Nagase K, Katsura S. Bilateral control considering singularity based on observation of torque error. In International Workshop on Advanced Motion Control, AMC. 2010. p. 744-749. 5464036 https://doi.org/10.1109/AMC.2010.5464036
Nagase, Kazuki ; Katsura, Seiichiro. / Bilateral control considering singularity based on observation of torque error. International Workshop on Advanced Motion Control, AMC. 2010. pp. 744-749
@inproceedings{2b0a2af38b4e48778afd2b70a6c26eff,
title = "Bilateral control considering singularity based on observation of torque error",
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.",
author = "Kazuki Nagase and Seiichiro Katsura",
year = "2010",
doi = "10.1109/AMC.2010.5464036",
language = "English",
isbn = "9781424466696",
pages = "744--749",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Bilateral control considering singularity based on observation of torque error

AU - Nagase, Kazuki

AU - Katsura, Seiichiro

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=77953744123&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953744123&partnerID=8YFLogxK

U2 - 10.1109/AMC.2010.5464036

DO - 10.1109/AMC.2010.5464036

M3 - Conference contribution

AN - SCOPUS:77953744123

SN - 9781424466696

SP - 744

EP - 749

BT - International Workshop on Advanced Motion Control, AMC

ER -