TY - JOUR
T1 - Precise position/force hybrid control with modal mass decoupling and bilateral communication between different structures
AU - Sakaino, Sho
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
N1 - Funding Information:
He is also a Research Fellow of the Japan Society for the Promotion of Science (JSPS), and a Research Assistant of the Global COE Program “High-Level Global Cooperation for Leading-Edge Platform on Access Spaces” in Japan. His research interests include motion control of biped robots and haptics.
PY - 2011/5
Y1 - 2011/5
N2 - In this study, we achieve haptic communication between different structures. In haptic communication, tactile sensation is transmitted to a remote place by cooperating robots. Conventional haptic communication is implemented under the assumption that the masses of the actuators are equal. We have found that haptic communication system is a kind of position/force hybrid control system and that it is not necessary to follow that assumption. In addition, exact modeling of haptic communication system and decoupling of tasks are essential for highly precise haptic communication. First, we describe the kinetic and dynamic behaviors of haptic communication system for cardiac surgery. The deterioration of haptic performance is shown to depend on an interference term, due to off-diagonal parameters in the modal mass matrix. Second, we propose a novel hybrid controller for the decoupling of the responses, and we analyze its performance, stability, and robustness. Simulations and experiments toward cardiac surgery are shown, and the effectiveness of the proposed method is verified.
AB - In this study, we achieve haptic communication between different structures. In haptic communication, tactile sensation is transmitted to a remote place by cooperating robots. Conventional haptic communication is implemented under the assumption that the masses of the actuators are equal. We have found that haptic communication system is a kind of position/force hybrid control system and that it is not necessary to follow that assumption. In addition, exact modeling of haptic communication system and decoupling of tasks are essential for highly precise haptic communication. First, we describe the kinetic and dynamic behaviors of haptic communication system for cardiac surgery. The deterioration of haptic performance is shown to depend on an interference term, due to off-diagonal parameters in the modal mass matrix. Second, we propose a novel hybrid controller for the decoupling of the responses, and we analyze its performance, stability, and robustness. Simulations and experiments toward cardiac surgery are shown, and the effectiveness of the proposed method is verified.
KW - Bilateral control
KW - acceleration control
KW - dynamics
KW - position/force hybrid control
UR - http://www.scopus.com/inward/record.url?scp=79955838705&partnerID=8YFLogxK
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U2 - 10.1109/TII.2011.2121077
DO - 10.1109/TII.2011.2121077
M3 - Article
AN - SCOPUS:79955838705
VL - 7
SP - 266
EP - 276
JO - IEEE Transactions on Industrial Informatics
JF - IEEE Transactions on Industrial Informatics
SN - 1551-3203
IS - 2
M1 - 5738705
ER -