Decoupling type multilateral control by using identity ratio

Toshiyuki Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


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. 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. 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 sense which depend on their inputs. Fourth, numerical simulation and experimental results are shown. The numerical simulation and experimental results show the viability of the proposed method.

Original languageEnglish
Pages (from-to)571-578+4
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2007
Externally publishedYes


  • Acceleration control
  • Bilateral control
  • Disturbance observer
  • Haptics
  • Modal decomposition
  • Motion control
  • Multilateral control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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