Haptic information sharing by multilateral control

Toshiyuki Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Conference contribution

抄録

In recent years, bilateral system has been widely researched for its functionality and availability. The system is effective in the fields of medical treatment, but application is limited to one-on-one system. The purpose of this study is development of basic technology for haptic information sharing technology. In this paper, a noble bilateral control method is introduced to realize multiple inputs or plural outputs bilateral system. At first, bilateral system based on acceleration control is discussed. Acceleration control is accomplished by disturbance observer. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control which based on the decomposed controller. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. Third, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by six robots. The numerical simulation and experimental results show the viability of the proposed method.

本文言語English
ホスト出版物のタイトルEPE-PEMC 2006
ホスト出版物のサブタイトル12th International Power Electronics and Motion Control Conference, Proceedings
ページ390-395
ページ数6
DOI
出版ステータスPublished - 2007
外部発表はい
イベントEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
継続期間: 2006 8 302006 9 1

出版物シリーズ

名前EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
国/地域Slovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • 電子工学および電気工学

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