Bilateral teleoperation based on modal system design

Ena Ishii, Seiichiro Katsura, Hiroaki Nishi, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

Technology for teleoperation has been needed in many scenes. Especially in robotic surgery, It is required that to transmit the tactile sensation to the operator. To attain that need, teleoperation method called bilateral has developed. Bilateral means transmit information each other. Environmental information is transmitted both from master to slave and from slave to master in bilateral teleoperation. In bilateral teleoperation, environmental information of master and slave should be exchanged in common coordinates. It is difficult to define a common coordinates in different structured bilateral teleoperation. Mode based control for bilateral teleoperation is proposed in this paper. Coordinates based on geometric mode is used to common coordinates to exchange the environmental information between master robot and slave robot. Geometric environmental mode is quarried by quarry matrix and hypothetical axes bilateral controller based on acceleration control is applied to hypothetical mode motors. Hypothetical mode master motor and mode slave motor are transformed to mode common motor and mode differential motor. Force servo controller is applied to mode common motor and position regulator is applied to mode differential motor. Viability of proposed method is shown in experimental result.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages1527-1532
Number of pages6
VolumeIV
DOIs
Publication statusPublished - 2005
EventIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
Duration: 2005 Jun 202005 Jun 23

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
CountryCroatia
CityDubrovnik
Period05/6/2005/6/23

Fingerprint

Remote control
Systems analysis
Acceleration control
Robots
Controllers
Quarries

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ishii, E., Katsura, S., Nishi, H., & Ohnishi, K. (2005). Bilateral teleoperation based on modal system design. In IEEE International Symposium on Industrial Electronics (Vol. IV, pp. 1527-1532). [1529159] https://doi.org/10.1109/ISIE.2005.1529159

Bilateral teleoperation based on modal system design. / Ishii, Ena; Katsura, Seiichiro; Nishi, Hiroaki; Ohnishi, Kouhei.

IEEE International Symposium on Industrial Electronics. Vol. IV 2005. p. 1527-1532 1529159.

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

Ishii, E, Katsura, S, Nishi, H & Ohnishi, K 2005, Bilateral teleoperation based on modal system design. in IEEE International Symposium on Industrial Electronics. vol. IV, 1529159, pp. 1527-1532, IEEE International Symposium on Industrial Electronics 2005, ISIE 2005, Dubrovnik, Croatia, 05/6/20. https://doi.org/10.1109/ISIE.2005.1529159
Ishii E, Katsura S, Nishi H, Ohnishi K. Bilateral teleoperation based on modal system design. In IEEE International Symposium on Industrial Electronics. Vol. IV. 2005. p. 1527-1532. 1529159 https://doi.org/10.1109/ISIE.2005.1529159
Ishii, Ena ; Katsura, Seiichiro ; Nishi, Hiroaki ; Ohnishi, Kouhei. / Bilateral teleoperation based on modal system design. IEEE International Symposium on Industrial Electronics. Vol. IV 2005. pp. 1527-1532
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