Realization of "law of action and reaction" by multilateral control

Seiichiro Katsura, Yuichi Matsumoto, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In this paper, a realization of "Law of action and reaction" by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper will have a great impact on the academic society, industrial world, the field of medicine and so on.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages469-474
Number of pages6
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Force control
Position control
Medicine
Manipulators
Identification (control systems)
Robots
Decomposition
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Katsura, S., Matsumoto, Y., & Ohnishi, K. (2004). Realization of "law of action and reaction" by multilateral control. In International Workshop on Advanced Motion Control, AMC (pp. 469-474)

Realization of "law of action and reaction" by multilateral control. / Katsura, Seiichiro; Matsumoto, Yuichi; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 469-474.

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

Katsura, S, Matsumoto, Y & Ohnishi, K 2004, Realization of "law of action and reaction" by multilateral control. in International Workshop on Advanced Motion Control, AMC. pp. 469-474, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Katsura S, Matsumoto Y, Ohnishi K. Realization of "law of action and reaction" by multilateral control. In International Workshop on Advanced Motion Control, AMC. 2004. p. 469-474
Katsura, Seiichiro ; Matsumoto, Yuichi ; Ohnishi, Kouhei. / Realization of "law of action and reaction" by multilateral control. International Workshop on Advanced Motion Control, AMC. 2004. pp. 469-474
@inproceedings{9a6227befd284e3dbda1f7e714791502,
title = "Realization of {"}law of action and reaction{"} by multilateral control",
abstract = "In this paper, a realization of {"}Law of action and reaction{"} by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper will have a great impact on the academic society, industrial world, the field of medicine and so on.",
author = "Seiichiro Katsura and Yuichi Matsumoto and Kouhei Ohnishi",
year = "2004",
language = "English",
pages = "469--474",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Realization of "law of action and reaction" by multilateral control

AU - Katsura, Seiichiro

AU - Matsumoto, Yuichi

AU - Ohnishi, Kouhei

PY - 2004

Y1 - 2004

N2 - In this paper, a realization of "Law of action and reaction" by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper will have a great impact on the academic society, industrial world, the field of medicine and so on.

AB - In this paper, a realization of "Law of action and reaction" by multilateral control is introduced. First, novel force sensing method based on twin robot system is proposed. Since this force sensing method does not need a parameter identification, it is very easy to implement it in multi-link manipulators. Next, an analysis and a design of bilateral control based on disturbance observer are discussed. Four-channel controller which is integrated of position control and force control in the acceleration dimension can be decomposed into two modes; common and differential modes. Design of bilateral control can be treated as position and force control in single joint, respectively. Furthermore, bilateral control is extended and multilateral control is generalized. Multilateral control can be designed similarly as bilateral control based on modal decomposition. Multilateral control proposed in this paper will have a great impact on the academic society, industrial world, the field of medicine and so on.

UR - http://www.scopus.com/inward/record.url?scp=3042541871&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042541871&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:3042541871

SP - 469

EP - 474

BT - International Workshop on Advanced Motion Control, AMC

ER -