Hierarchical bilateral control for haptic systems with different degree-of-freedom

Yoshihiro Ohnishi, Takuma Shimoichi, Seiichiro Katsura

研究成果: Conference contribution

抄録

Haptic information has been attracting the attention as the third media following hearing, sight. The haptic information is effective for medical and industry. In conventional research of haptics, low degrees of freedom system is often used. However, to transmit human-like haptic information, human type robot should be used. In this research, a finger type robot with 10 degrees of freedom is used as slave system to transmit haptic information. This robot is chain driven robot. This structure can transmit better haptic sense than serial link robot because the inertia of each joint is low and gear ratio of motor is low. When human grips something by hand robot, it is thought that grip force can be simplified to one degree of freedom force. Thus, in this research, the hand robot as slave system and one degree freedom linear motors are used as master system for the simplicity of system setup. The system of this research is constructed with different degree of freedom robot. To transmit haptic sense this system, hierarchical bilateral control is proposed. The control method realizes transmission of haptic sensations between systems with the different degree of freedom. By the experiments, viability of proposed method is confirmed.

本文言語English
ホスト出版物のタイトル15th International Power Electronics and Motion Control Conference and Exposition, EPE-PEMC 2012 ECCE Europe
ページLS6c.11-LS6c.16
DOI
出版ステータスPublished - 2012
イベント15th International Power Electronics and Motion Control Conference and Exposition, EPE-PEMC 2012 ECCE Europe - Novi Sad, Serbia
継続期間: 2012 9月 42012 9月 6

出版物シリーズ

名前15th International Power Electronics and Motion Control Conference and Exposition, EPE-PEMC 2012 ECCE Europe

Other

Other15th International Power Electronics and Motion Control Conference and Exposition, EPE-PEMC 2012 ECCE Europe
国/地域Serbia
CityNovi Sad
Period12/9/412/9/6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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