Bilateral teleoperation with different configurations using interaction mode control

Seiichiro Katsura, Toshiyuki Suzuyama, Kiyoshi Ohishi

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

The paper realizes a bilateral teleoperation system considering different configurations. The haptic devices used in this paper are based on three master systems and one slave system. Each master system has one degree of freedom (DOF); and the slave system has three DOF. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for dexterous tasks including grasping motion. The paper introduces a bilateral teleoperation with spatial mode transformation, which is corresponding to human's task motions. The spatial modes are abstracted by using an interaction mode control. The interaction mode control decomposes the bilateral teleoperation system into three decoupled modes; "translational", "rotating", and "grasping" motions. Thus the problems for motion integration of bilateral teleoperation system with different configurations are solved to design each bilateral controller with respect to the spatial mode coordinate system. Furthermore, the proposed system is designed based on acceleration control to realize both the force servoing and the position regulator for the "law of action and reaction" in remote environment simultaneously. As a result, a complicated task for the slave system is easily realized by three master systems with vivid force feedback. 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2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
ページ3120-3125
ページ数6
DOI
出版ステータスPublished - 2007 12 1
外部発表はい
イベント2007 IEEE International Symposium on Industrial Electronics, ISIE 2007 - Caixanova - Vigo, Spain
継続期間: 2007 6 42007 6 7

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
国/地域Spain
CityCaixanova - Vigo
Period07/6/407/6/7

ASJC Scopus subject areas

  • 電子工学および電気工学

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