Abstract
This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave haptic display system is taken as an example in this research. Firstly, haptic information, i.e. the position of each haptic device and the reaction force exerted on each haptic device, is transformed into environmental modes by means of mode transformation. Then the haptic information in the modal space is transmitted between master and slave haptic devices. The controller is designed so as to optimize mode-space transparency. Transparent bilateral control in the modal space is achieved even when the system connection changes, e.g. the capacity of communication network or the DOF of haptic devices changes. The proposed controller design method is validated by experimental results.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 709-714 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24 |
Other
| Other | 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 |
|---|---|
| Country | Japan |
| City | Nagaoka, Niigata |
| Period | 10/3/21 → 10/3/24 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Computer Science Applications
- Modelling and Simulation
Cite this
Transparency and system connection for heterogeneous haptic network systems. / Kubo, Ryogo; Motoi, Naoki; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. 2010. p. 709-714 5464044.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Transparency and system connection for heterogeneous haptic network systems
AU - Kubo, Ryogo
AU - Motoi, Naoki
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave haptic display system is taken as an example in this research. Firstly, haptic information, i.e. the position of each haptic device and the reaction force exerted on each haptic device, is transformed into environmental modes by means of mode transformation. Then the haptic information in the modal space is transmitted between master and slave haptic devices. The controller is designed so as to optimize mode-space transparency. Transparent bilateral control in the modal space is achieved even when the system connection changes, e.g. the capacity of communication network or the DOF of haptic devices changes. The proposed controller design method is validated by experimental results.
AB - This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave haptic display system is taken as an example in this research. Firstly, haptic information, i.e. the position of each haptic device and the reaction force exerted on each haptic device, is transformed into environmental modes by means of mode transformation. Then the haptic information in the modal space is transmitted between master and slave haptic devices. The controller is designed so as to optimize mode-space transparency. Transparent bilateral control in the modal space is achieved even when the system connection changes, e.g. the capacity of communication network or the DOF of haptic devices changes. The proposed controller design method is validated by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77953792394&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953792394&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464044
DO - 10.1109/AMC.2010.5464044
M3 - Conference contribution
AN - SCOPUS:77953792394
SN - 9781424466696
SP - 709
EP - 714
BT - International Workshop on Advanced Motion Control, AMC
ER -