A realization of multilateral force feedback control for cooperative motion

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

研究成果: Conference contribution

1 引用 (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.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Industrial Technology
ページ340-345
ページ数6
DOI
出版物ステータスPublished - 2006
外部発表Yes
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
India
Mumbai
期間06/12/1506/12/17

Fingerprint

Force control
Feedback control
Quarries
Acceleration control
Feedback
Controllers

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

これを引用

Katsura, S., Suzuyama, T., & Ohishi, K. (2006). A realization of multilateral force feedback control for cooperative motion. : Proceedings of the IEEE International Conference on Industrial Technology (pp. 340-345). [4237715] https://doi.org/10.1109/ICIT.2006.372393

A realization of multilateral force feedback control for cooperative motion. / Katsura, Seiichiro; Suzuyama, Toshiyuki; Ohishi, Kiyoshi.

Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 340-345 4237715.

研究成果: Conference contribution

Katsura, S, Suzuyama, T & Ohishi, K 2006, A realization of multilateral force feedback control for cooperative motion. : Proceedings of the IEEE International Conference on Industrial Technology., 4237715, pp. 340-345, 2006 IEEE International Conference on Industrial Technology, ICIT, Mumbai, India, 06/12/15. https://doi.org/10.1109/ICIT.2006.372393
Katsura S, Suzuyama T, Ohishi K. A realization of multilateral force feedback control for cooperative motion. : Proceedings of the IEEE International Conference on Industrial Technology. 2006. p. 340-345. 4237715 https://doi.org/10.1109/ICIT.2006.372393
Katsura, Seiichiro ; Suzuyama, Toshiyuki ; Ohishi, Kiyoshi. / A realization of multilateral force feedback control for cooperative motion. Proceedings of the IEEE International Conference on Industrial Technology. 2006. pp. 340-345
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