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

Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi, Ryogo Kubo

Research output: Contribution to journalArticlepeer-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 languageEnglish
Pages (from-to)62-68
Number of pages7
JournalIEEE Transactions on Industrial Electronics
Volume56
Issue number1
DOIs
Publication statusPublished - 2009

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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