The transformation of modified 4-channel architecture

Yasuhito Sumiyoshi, Kouhei Ohnishi

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

14 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages211-216
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

Feedback
Transparency
Compliance control
Aerospace engineering
Position control
Remote control
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sumiyoshi, Y., & Ohnishi, K. (2004). The transformation of modified 4-channel architecture. In International Workshop on Advanced Motion Control, AMC (pp. 211-216)

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 proceedingConference contribution

Sumiyoshi, Y & Ohnishi, K 2004, The transformation of modified 4-channel architecture. in International Workshop on Advanced Motion Control, AMC. pp. 211-216, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Sumiyoshi Y, Ohnishi K. The transformation of modified 4-channel architecture. In International Workshop on Advanced Motion Control, AMC. 2004. p. 211-216
Sumiyoshi, Yasuhito ; Ohnishi, Kouhei. / The transformation of modified 4-channel architecture. International Workshop on Advanced Motion Control, AMC. 2004. pp. 211-216
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