Abstract
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.
| Original language | English |
|---|---|
| Article number | 5738705 |
| Pages (from-to) | 266-276 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Industrial Informatics |
| Volume | 7 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2011 May |
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Keywords
- acceleration control
- Bilateral control
- dynamics
- position/force hybrid control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Information Systems
Cite this
Precise position/force hybrid control with modal mass decoupling and bilateral communication between different structures. / Sakaino, Sho; Sato, Tomoya; Ohnishi, Kouhei.
In: IEEE Transactions on Industrial Informatics, Vol. 7, No. 2, 5738705, 05.2011, p. 266-276.Research output: Contribution to journal › Article
}
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
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 - acceleration control
KW - Bilateral control
KW - dynamics
KW - position/force hybrid control
UR - http://www.scopus.com/inward/record.url?scp=79955838705&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79955838705&partnerID=8YFLogxK
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 -