A realization of multilateral force feedback control for cooperative motion

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

The paper proposes a novel control design for multilateral system considering different degrees of freedom (DOF) and structure. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for bilateral and/or multilateral control for dexterous tasks including grasping motion. The paper introduces spatial mode transformation, which is corresponding to human's tasks. The spatial modes are abstracted by using mode quarry matrices. The order of the mode quarry matrices means the task DOF, and the decoupled modes correspond to "translational task", "yawing task", "grasping task", and so on. Thus the problems for motion integration of different DOF and structure are solved to design multilateral controller in the spatial mode coordinate systems. Furthermore, the proposed multilateral control is designed based on acceleration control to realize both the force servoing and the position regulator for action-reaction law in remote environment simultaneously. The proposed multilateral control is applied for a multimaster/single-slave system, where the DOF is different from each other. As a result, a complicated task for slave system is easily realized by two master system with vivid force feedback based on modal control design of the multilateral system. The experimental results show viability of the proposed method.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ340-345
ページ数6
DOI
出版ステータスPublished - 2006 12 1
外部発表はい
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
国/地域India
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

フィンガープリント

「A realization of multilateral force feedback control for cooperative motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル