Bilateral teleoperation with different configurations using interaction mode control

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

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

8 Citations (Scopus)

Abstract

The paper realizes a bilateral teleoperation system considering different configurations. The haptic devices used in this paper are based on three master systems and one slave system. Each master system has one degree of freedom (DOF); and the slave system has three DOF. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for dexterous tasks including grasping motion. The paper introduces a bilateral teleoperation with spatial mode transformation, which is corresponding to human's task motions. The spatial modes are abstracted by using an interaction mode control. The interaction mode control decomposes the bilateral teleoperation system into three decoupled modes; "translational", "rotating", and "grasping" motions. Thus the problems for motion integration of bilateral teleoperation system with different configurations are solved to design each bilateral controller with respect to the spatial mode coordinate system. Furthermore, the proposed system is designed based on acceleration control to realize both the force servoing and the position regulator for the "law of action and reaction" in remote environment simultaneously. As a result, a complicated task for the slave system is easily realized by three master systems with vivid force feedback. The experimental results show viability of the proposed method.

Original languageEnglish
Title of host publication2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
Pages3120-3125
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
Duration: 2007 Jun 42007 Jun 7

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
CountrySpain
CityCaixanova - Vigo
Period07/6/407/6/7

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Katsura, S., Suzuyama, T., & Ohishi, K. (2007). Bilateral teleoperation with different configurations using interaction mode control. In 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings (pp. 3120-3125). [4375114] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2007.4375114