Decoupling Type Multilateral Control by Using Identity Ratio

Suzuyama Toshiyuki, Katsura Seiichiro, Ohishi Kiyoshi

doi:10.1541/ieejias.127.571

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Other Title

アイデンティティー比を用いた情報分離型マルチラテラル制御
アイデンティティーヒオモチイタジョウホウブンリガタマルチラテラルセイギョ

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Description

In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes “common mode” and “differential mode” 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. Third, to realize decoupled haptic information, IR (identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the sense which depend on their inputs. Fourth, numerical simulation and experimental results are shown. The numerical simulation and experimental results show the viability of the proposed method.

Journal

IEEJ Transactions on Industry Applications

IEEJ Transactions on Industry Applications 127 (6), 571-578, 2007

The Institute of Electrical Engineers of Japan

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