TY - JOUR
T1 - Transmission of force sensation by environment quarrier based on multilateral control
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
AU - Ohishi, Kiyoshi
N1 - Funding Information:
Manuscript received April 30, 2005; revised October 10, 2005. Abstract published on the Internet January 14, 2007. This work was supported by the Ministry of Education, Culture, Sports, Science, and Technology of Japan under Grant-in-Aid for Scientific Research (A), 17206027, 2005. S. Katsura and K. Ohishi are with the Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka 940-2188, Japan (e-mail: katsura@vos.nagaokaut.ac.jp; ohishi@vos.nagaokaut.ac.jp). K. Ohnishi is with the Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan (e-mail: ohnishi@sd.keio.ac.jp). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TIE.2007.892638
PY - 2007/4
Y1 - 2007/4
N2 - In recent years, realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The bandwidth of force sensing and friction compensation are very important problems for reproduction of vivid force sensation. In this paper, an environment quarrier is proposed for bilateral teleoperation instead of force sensors. The environment quarrier is a novel force-sensing method that consists of a twin robot system. Two of the same type of robot are required and they are controlled in the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in contact motion and the other is unconstrained. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The environment quarrier can observe the external force with high bandwidth and friction compensation. In this paper, the idea of multilateral control is introduced for attainment of simultaneity. Furthermore, this paper shows the controller design of the multilateral control in the modal space. The experimental results show the viability of the proposed method.
AB - In recent years, realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The bandwidth of force sensing and friction compensation are very important problems for reproduction of vivid force sensation. In this paper, an environment quarrier is proposed for bilateral teleoperation instead of force sensors. The environment quarrier is a novel force-sensing method that consists of a twin robot system. Two of the same type of robot are required and they are controlled in the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in contact motion and the other is unconstrained. The purity of external force is obtained by subtracting the disturbance torque in the unconstrained robot from the constrained one. The environment quarrier can observe the external force with high bandwidth and friction compensation. In this paper, the idea of multilateral control is introduced for attainment of simultaneity. Furthermore, this paper shows the controller design of the multilateral control in the modal space. The experimental results show the viability of the proposed method.
KW - Acceleration control
KW - Bilateral teleoperation
KW - Disturbance observer
KW - Environment quarrier
KW - Force sensation
KW - Haptics
KW - Motion control
KW - Multilateral control
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U2 - 10.1109/TIE.2007.892638
DO - 10.1109/TIE.2007.892638
M3 - Article
AN - SCOPUS:34247104984
SN - 0278-0046
VL - 54
SP - 898
EP - 906
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 2
ER -