Haptic information sharing by multilateral control

Toshiyuki Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi

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

Abstract

In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs or plural outputs bilateral system. 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 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, 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 six robots. The numerical simulation and experimental results show the viability of the proposed method.

Original languageEnglish
Title of host publicationEPE-PEMC 2006
Subtitle of host publication12th International Power Electronics and Motion Control Conference, Proceedings
Pages390-395
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Publication series

NameEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Suzuyama, T., Katsura, S., & Ohishi, K. (2007). Haptic information sharing by multilateral control. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings (pp. 390-395). [4061736] (EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings). https://doi.org/10.1109/EPEPEMC.2006.283191