TY - JOUR
T1 - Mode switching bilateral control for master-slave systems with different motion areas
AU - Kosugi, Takahiro
AU - Yajima, Shunsuke
AU - Saito, Eiichi
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Ministry of Education, Culture, Sports, Science and Technology, Grantin–Aid for Scientific Research for Young Scientists (A), 24686037, 2012.
Publisher Copyright:
© 2013 The Institute of Electrical Engineers of Japan.
PY - 2013
Y1 - 2013
N2 - This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.
AB - This paper proposes a mode switching bilateral control for the extension of motion areas. Conventionally, a bilateral control with a dynamical matrix has been used to achieve haptic transmission with different motion ranges between the master and slave systems. However, this approach still does not allow operators to enhance operability, especially when the slave system is in contact with environment. Taking the contact motion in the bilateral control into consideration, a basic bilateral control with an Hadamard matrix for the same motion areas is suitable for immediate and fine haptic transmission. To solve the contact motion problem, the proposed control structure switches the dynamical and the Hadamard matrices between free and contact motion. The characteristic of the proposed method is that the structure of the disturbance observer is applied to the modal space in order to solve the initial-value problem. With this method, smooth switching of the modal transformation matrix is achieved in both soft and hard environments. As a result, the operability of the different motion areas will be enhanced.
KW - Bilateral control
KW - Disturbance observer
KW - Dynamical matrix
KW - Modal transformation
KW - Motion control
KW - Real-world haptics
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U2 - 10.1541/ieejjia.2.232
DO - 10.1541/ieejjia.2.232
M3 - Article
AN - SCOPUS:85003921923
SN - 2187-1094
VL - 2
SP - 232
EP - 241
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 5
ER -