Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme

Ryogo Kubo; Tomoyuki Shimono; Kouhei Ohnishi; Ryogo Kubo

doi:10.1109/TIE.2008.2007010

Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme

Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi, Ryogo Kubo

Department of Electronics and Electrical Engineering

Research output: Contribution to journal › Article › peer-review

35 Citations (Scopus)

Abstract

This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.

Original language	English
Pages (from-to)	62-68
Number of pages	7
Journal	IEEE Transactions on Industrial Electronics
Volume	56
Issue number	1
DOIs	https://doi.org/10.1109/TIE.2008.2007010
Publication status	Published - 2009 Jan

Keywords

Bilateral control
discrete Fourier transform (DFT)
disturbance observer (DOB)
grasping control
haptics
multilateral control

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TIE.2008.2007010

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title = "Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme",

abstract = "This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.",

keywords = "Bilateral control, discrete Fourier transform (DFT), disturbance observer (DOB), grasping control, haptics, multilateral control",

author = "Ryogo Kubo and Tomoyuki Shimono and Kouhei Ohnishi and Ryogo Kubo",

note = "Funding Information: Manuscript received January 28, 2008; revised September 9, 2008. First published October 31, 2008; current version published December 30, 2008. This work was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (A), 17206027, 2005. This paper was presented in part at the IEEE International Conference on Industrial Technology, Mumbai, India, December 15–17, 2006.",

year = "2009",

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doi = "10.1109/TIE.2008.2007010",

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AU - Shimono, Tomoyuki

AU - Ohnishi, Kouhei

AU - Kubo, Ryogo

N1 - Funding Information: Manuscript received January 28, 2008; revised September 9, 2008. First published October 31, 2008; current version published December 30, 2008. This work was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (A), 17206027, 2005. This paper was presented in part at the IEEE International Conference on Industrial Technology, Mumbai, India, December 15–17, 2006.

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N2 - This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.

AB - This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.

KW - Bilateral control

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KW - disturbance observer (DOB)

KW - grasping control

KW - haptics

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Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme

Abstract

Keywords

ASJC Scopus subject areas

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