Null-space control considering environment condition in bilateral teleoperation

Takeshi Okura, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.

Original languageEnglish
Title of host publicationProceedings - ICIT 2011
Subtitle of host publication2011 IEEE International Conference on Industrial Technology
Pages399-404
Number of pages6
DOIs
Publication statusPublished - 2011 May 18
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
CountryUnited States
CityAuburn, AL
Period11/3/1411/3/16

Keywords

  • Bilateral Control
  • Force Feedback Control
  • Haptic Energy Conversion
  • Human Support System
  • Motion Control
  • Real-World Haptics

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Okura, T., & Katsura, S. (2011). Null-space control considering environment condition in bilateral teleoperation. In Proceedings - ICIT 2011: 2011 IEEE International Conference on Industrial Technology (pp. 399-404). [5754410] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2011.5754410