Bilateral teleoperation based on modal system design

Ena Ishii, Seiichiro Katsura, Hiroaki Nishi, Kouhei Ohnishi

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Technology for teleoperation has been needed in many scenes. Especially in robotic surgery, It is required that to transmit the tactile sensation to the operator. To attain that need, teleoperation method called bilateral has developed. Bilateral means transmit information each other. Environmental information is transmitted both from master to slave and from slave to master in bilateral teleoperation. In bilateral teleoperation, environmental information of master and slave should be exchanged in common coordinates. It is difficult to define a common coordinates in different structured bilateral teleoperation. Mode based control for bilateral teleoperation is proposed in this paper. Coordinates based on geometric mode is used to common coordinates to exchange the environmental information between master robot and slave robot. Geometric environmental mode is quarried by quarry matrix and hypothetical axes bilateral controller based on acceleration control is applied to hypothetical mode motors. Hypothetical mode master motor and mode slave motor are transformed to mode common motor and mode differential motor. Force servo controller is applied to mode common motor and position regulator is applied to mode differential motor. Viability of proposed method is shown in experimental result.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
ページ1527-1532
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIEEE International Symposium on Industrial Electronics 2005, ISIE 2005 - Dubrovnik, Croatia
継続期間: 2005 6 202005 6 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
IV

Other

OtherIEEE International Symposium on Industrial Electronics 2005, ISIE 2005
国/地域Croatia
CityDubrovnik
Period05/6/2005/6/23

ASJC Scopus subject areas

  • 電子工学および電気工学

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