Decoupled haptic transmission by multilateral control

Toshiyuki Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi

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

10 Citations (Scopus)

Abstract

In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes "common mode" and "differential mode" in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, to realize decoupled haptic information, IR(identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the real environment by using IR. Fourth, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by three robots. The numerical simulation and experimental results shows the viability of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages334-339
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Acceleration control
Controllers
Robots
Force control
Computer simulation
Position control
Synchronization
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Suzuyama, T., Katsura, S., & Ohishi, K. (2006). Decoupled haptic transmission by multilateral control. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 334-339). [1631680] https://doi.org/10.1109/AMC.2006.1631680

Decoupled haptic transmission by multilateral control. / Suzuyama, Toshiyuki; Katsura, Seiichiro; Ohishi, Kiyoshi.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 334-339 1631680.

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

Suzuyama, T, Katsura, S & Ohishi, K 2006, Decoupled haptic transmission by multilateral control. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631680, pp. 334-339, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631680
Suzuyama T, Katsura S, Ohishi K. Decoupled haptic transmission by multilateral control. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 334-339. 1631680 https://doi.org/10.1109/AMC.2006.1631680
Suzuyama, Toshiyuki ; Katsura, Seiichiro ; Ohishi, Kiyoshi. / Decoupled haptic transmission by multilateral control. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 334-339
@inproceedings{59508e6f6c9e462f889c3de8ffff7074,
title = "Decoupled haptic transmission by multilateral control",
abstract = "In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes {"}common mode{"} and {"}differential mode{"} in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, to realize decoupled haptic information, IR(identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the real environment by using IR. Fourth, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by three robots. The numerical simulation and experimental results shows the viability of the proposed method.",
author = "Toshiyuki Suzuyama and Seiichiro Katsura and Kiyoshi Ohishi",
year = "2006",
doi = "10.1109/AMC.2006.1631680",
language = "English",
volume = "2006",
pages = "334--339",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Decoupled haptic transmission by multilateral control

AU - Suzuyama, Toshiyuki

AU - Katsura, Seiichiro

AU - Ohishi, Kiyoshi

PY - 2006

Y1 - 2006

N2 - In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes "common mode" and "differential mode" in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, to realize decoupled haptic information, IR(identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the real environment by using IR. Fourth, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by three robots. The numerical simulation and experimental results shows the viability of the proposed method.

AB - In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes "common mode" and "differential mode" in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, to realize decoupled haptic information, IR(identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the real environment by using IR. Fourth, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by three robots. The numerical simulation and experimental results shows the viability of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=33751036784&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33751036784&partnerID=8YFLogxK

U2 - 10.1109/AMC.2006.1631680

DO - 10.1109/AMC.2006.1631680

M3 - Conference contribution

AN - SCOPUS:33751036784

VL - 2006

SP - 334

EP - 339

BT - International Workshop on Advanced Motion Control, AMC

ER -