TY - JOUR
T1 - Multi-DOF micro-macro bilateral controller using oblique coordinate control
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
N1 - Funding Information:
Manuscript received January 10, 2011; revised February 22, 2011; accepted April 18, 2011. Date of publication July 12, 2011; date of current version August 10, 2011. 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 (S), 20226007, 2008. This paper was presented in part at International Conference on Mechatronics, Malaga, Spain, 2009. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the IEEE by sending a request to pubs-permissions@ieee.org. Paper no. TII-11-01-0010.
PY - 2011/8
Y1 - 2011/8
N2 - In this study, we show that tasks can be realized by appropriate coordinate transformation. This approach, oblique coordinate control, decouples tasks. Even though a system is large, they can be designed by a combination of small tasks. Therefore, tasks can be regarded as reusable components. In this study, micro-macro bilateral control is achieved as a complicated task. Small objects can be manipulated as large objects in micro-macro bilateral control. However, ideal micro-macro bilateral controllers are usually derived only for single-degree-of-freedom (DOF) systems. Then, we propose a micro-macro bilateral controller for multi-DOF on the basis of oblique coordinate control. To obtain multi-DOF bilateral control, we first derive control goals as kinematic relations. This study also considers the case where scaling gains of position and force are selected in a different manner. The goals of micro-macro bilateral control are then controlled by oblique coordinate control. The validity of the proposed method is experimentally verified.
AB - In this study, we show that tasks can be realized by appropriate coordinate transformation. This approach, oblique coordinate control, decouples tasks. Even though a system is large, they can be designed by a combination of small tasks. Therefore, tasks can be regarded as reusable components. In this study, micro-macro bilateral control is achieved as a complicated task. Small objects can be manipulated as large objects in micro-macro bilateral control. However, ideal micro-macro bilateral controllers are usually derived only for single-degree-of-freedom (DOF) systems. Then, we propose a micro-macro bilateral controller for multi-DOF on the basis of oblique coordinate control. To obtain multi-DOF bilateral control, we first derive control goals as kinematic relations. This study also considers the case where scaling gains of position and force are selected in a different manner. The goals of micro-macro bilateral control are then controlled by oblique coordinate control. The validity of the proposed method is experimentally verified.
KW - Acceleration control
KW - bilateral control
KW - haptics
KW - micro-macro bilateral control
KW - oblique coordinate control
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U2 - 10.1109/TII.2011.2158837
DO - 10.1109/TII.2011.2158837
M3 - Article
AN - SCOPUS:80051800698
SN - 1551-3203
VL - 7
SP - 446
EP - 454
JO - IEEE Transactions on Industrial Informatics
JF - IEEE Transactions on Industrial Informatics
IS - 3
M1 - 5944998
ER -