Abstract
Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medical, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. HANNAFOD, LAWRENCE and so on had been established a clear design method based on transparency by using H matrix and four-channel architecture. And among the control architectures that incorporate velocity and force feedforward, 4-channel architecture has shown perfect transparency in ideal condition. Futhermore, by using a local force feedback, one can counteract a impact force imposed by operator or the environmen force reflection. But, it seems that this modifed 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force infomation is converted into position information through filter cannot be expressed clearly in this architecture. So, I had transformed 4ch architecture to make these control laws easy to evaluate. I introduce the transformation of modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 211-216 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Event | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan Duration: 2004 Mar 25 → 2004 Mar 28 |
Other
| Other | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
|---|---|
| Country | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
The transformation of modified 4-channel architecture. / Sumiyoshi, Yasuhito; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. 2004. p. 211-216.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - The transformation of modified 4-channel architecture
AU - Sumiyoshi, Yasuhito
AU - Ohnishi, Kouhei
PY - 2004
Y1 - 2004
N2 - Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medical, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. HANNAFOD, LAWRENCE and so on had been established a clear design method based on transparency by using H matrix and four-channel architecture. And among the control architectures that incorporate velocity and force feedforward, 4-channel architecture has shown perfect transparency in ideal condition. Futhermore, by using a local force feedback, one can counteract a impact force imposed by operator or the environmen force reflection. But, it seems that this modifed 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force infomation is converted into position information through filter cannot be expressed clearly in this architecture. So, I had transformed 4ch architecture to make these control laws easy to evaluate. I introduce the transformation of modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.
AB - Bilateral control, the technology of teleoperation with force feedback, is progressing rapidly and has a field with an important application in space, oceanic engineering, medical, and so on. Many researchers have employed velocity, force or impedance information to propose a variety of bilateral control. As a conventional bilateral control, position-position, force-position architecture are known. But, these architecture was only intuitive and did not have a clear performance index. HANNAFOD, LAWRENCE and so on had been established a clear design method based on transparency by using H matrix and four-channel architecture. And among the control architectures that incorporate velocity and force feedforward, 4-channel architecture has shown perfect transparency in ideal condition. Futhermore, by using a local force feedback, one can counteract a impact force imposed by operator or the environmen force reflection. But, it seems that this modifed 4-channel architecture does not show the effect of local force feedback well from the point of view of visual. In addition, like a parallel control and a compliance control, control architecture which have a part where force infomation is converted into position information through filter cannot be expressed clearly in this architecture. So, I had transformed 4ch architecture to make these control laws easy to evaluate. I introduce the transformation of modified 4-channel architecture to clarify the meaning of local force feedback, and to express the above-mentioned controller clearly.
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M3 - Conference contribution
AN - SCOPUS:3042660160
SP - 211
EP - 216
BT - International Workshop on Advanced Motion Control, AMC
ER -