Mode switching bilateral control for master-slave systems with different motion areas

Takahiro Kosugi, Shunsuke Yajima, Eiichi Saito, Seiichiro Katsura

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.

Original languageEnglish
Pages (from-to)232-241
Number of pages10
JournalIEEJ Journal of Industry Applications
Volume2
Issue number5
DOIs
Publication statusPublished - 2013

Fingerprint

Hadamard matrices
Initial value problems
Switches

Keywords

  • Bilateral control
  • Disturbance observer
  • Dynamical matrix
  • Modal transformation
  • Motion control
  • Real-world haptics

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Mode switching bilateral control for master-slave systems with different motion areas. / Kosugi, Takahiro; Yajima, Shunsuke; Saito, Eiichi; Katsura, Seiichiro.

In: IEEJ Journal of Industry Applications, Vol. 2, No. 5, 2013, p. 232-241.

Research output: Contribution to journalArticle

Kosugi, Takahiro ; Yajima, Shunsuke ; Saito, Eiichi ; Katsura, Seiichiro. / Mode switching bilateral control for master-slave systems with different motion areas. In: IEEJ Journal of Industry Applications. 2013 ; Vol. 2, No. 5. pp. 232-241.
@article{46c30161a87141aaaebaaab4ef20780b,
title = "Mode switching bilateral control for master-slave systems with different motion areas",
abstract = "This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.",
keywords = "Bilateral control, Disturbance observer, Dynamical matrix, Modal transformation, Motion control, Real-world haptics",
author = "Takahiro Kosugi and Shunsuke Yajima and Eiichi Saito and Seiichiro Katsura",
year = "2013",
doi = "10.1541/ieejjia.2.232",
language = "English",
volume = "2",
pages = "232--241",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "5",

}

TY - JOUR

T1 - Mode switching bilateral control for master-slave systems with different motion areas

AU - Kosugi, Takahiro

AU - Yajima, Shunsuke

AU - Saito, Eiichi

AU - Katsura, Seiichiro

PY - 2013

Y1 - 2013

N2 - This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.

AB - This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.

KW - Bilateral control

KW - Disturbance observer

KW - Dynamical matrix

KW - Modal transformation

KW - Motion control

KW - Real-world haptics

UR - http://www.scopus.com/inward/record.url?scp=85003921923&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85003921923&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.2.232

DO - 10.1541/ieejjia.2.232

M3 - Article

AN - SCOPUS:85003921923

VL - 2

SP - 232

EP - 241

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 5

ER -