Multilateral force feedback control using dynamical modal transformation

Wataru Yamanouchi, Seiichiro Katsura

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

Abstract

Recent advances in control technology have contributed to the development of robot systems for communication. Robot systems recognize their environment on the basis of audio-visual information. Recognition methods based on audio-visual feedback have been developed by many researchers. Apart from auditory and visual information, haptic information has recently attracted attention as the third type of multimedia information. The sense of touch is useful for remote manipulation. Feedback of haptic information is realized by bilateral control. Most systems are constructed using a master-slave system in which the master-slave systems have the same mechanical structure. However, we proposed force feedback systems with different mechanical structures. Previous research proposed novel transformation matrix for different mechanical structures including Laplace operator. In this research, effect of integro-differential scaling for proposed modal transformation is verified to experiment.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Fingerprint

Force Feedback
Force Control
Force control
Feedback Control
Feedback control
Feedback
Robots
Haptics
Robot
Transformation Matrix
Laplace Operator
Feedback Systems
Communication
Multimedia
Manipulation
Scaling
Experiments
Experiment
Vision

ASJC Scopus subject areas

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

Cite this

Yamanouchi, W., & Katsura, S. (2012). Multilateral force feedback control using dynamical modal transformation. In International Workshop on Advanced Motion Control, AMC [6197126] https://doi.org/10.1109/AMC.2012.6197126

Multilateral force feedback control using dynamical modal transformation. / Yamanouchi, Wataru; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. 2012. 6197126.

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

Yamanouchi, W & Katsura, S 2012, Multilateral force feedback control using dynamical modal transformation. in International Workshop on Advanced Motion Control, AMC., 6197126, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197126
Yamanouchi W, Katsura S. Multilateral force feedback control using dynamical modal transformation. In International Workshop on Advanced Motion Control, AMC. 2012. 6197126 https://doi.org/10.1109/AMC.2012.6197126
Yamanouchi, Wataru ; Katsura, Seiichiro. / Multilateral force feedback control using dynamical modal transformation. International Workshop on Advanced Motion Control, AMC. 2012.
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