Scaling bilateral controls with impedance transmission using transfer admittance

Takahiro Mizoguchi, Takahiro Nozaki, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Scaling bilateral control is a method to extend human ability by using master and slave robots. Position scaling extends working space of human; force scaling extends sensitivity of human. This technology is useful when the slave robot is larger in size compared with the master robot. In general, correct environmental impedance, such as softness or hardness of the object, cannot be transmitted in scaling bilateral control due to a mismatch of force scaling and position scaling in the bilateral control. However, correct environmental impedance is necessary for the safe operation, especially in the scaling bilateral control where the mass of robot tends to become large. This paper proposes a method of transmitting environmental impedance in position scaling bilateral control. Position scaling is focused for the sake of extending working space of operator when the slave robot has larger working space compared with the master robot. There exist two methods to scale position in bilateral control; scaling with constant coefficient and scaling with dimension variation. Conventionally, neither of these achieves correct impedance transmission. Proposed method can be applied to both position scaling methods with the same procedure and achieves impedance transmission by using property of gyrator type bilateral control. The transfer admittance has an ability to bring back the scaled bilateral control to non scaled bilateral control during contact motion. The effect of the proposal is verified through simulation and 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

Impedance
Scaling
Robots
Robot
Gyrators
Hardness
Contact
Tend
Necessary
Motion

ASJC Scopus subject areas

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

Cite this

Mizoguchi, T., Nozaki, T., & Ohnishi, K. (2012). Scaling bilateral controls with impedance transmission using transfer admittance. In International Workshop on Advanced Motion Control, AMC [6197044] https://doi.org/10.1109/AMC.2012.6197044

Scaling bilateral controls with impedance transmission using transfer admittance. / Mizoguchi, Takahiro; Nozaki, Takahiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2012. 6197044.

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

Mizoguchi, T, Nozaki, T & Ohnishi, K 2012, Scaling bilateral controls with impedance transmission using transfer admittance. in International Workshop on Advanced Motion Control, AMC., 6197044, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197044
Mizoguchi T, Nozaki T, Ohnishi K. Scaling bilateral controls with impedance transmission using transfer admittance. In International Workshop on Advanced Motion Control, AMC. 2012. 6197044 https://doi.org/10.1109/AMC.2012.6197044
Mizoguchi, Takahiro ; Nozaki, Takahiro ; Ohnishi, Kouhei. / Scaling bilateral controls with impedance transmission using transfer admittance. International Workshop on Advanced Motion Control, AMC. 2012.
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