A Structure of Bilateral Control Systems Based on Grasping/Manipulating Control Scheme

Kubo Ryogo, Kato Atsushi, Tsuji Toshiaki, Ohnishi Kouhei

doi:10.1541/ieejias.127.563

Bibliographic Information

Other Title

把持・操り理論に基づくバイラテラル制御系の一構成法
ハジアヤツリリロンニモトズクバイラテラルセイギョケイノイチコウセイホウ

Search this article

Abstract

In this paper, we present a control scheme of grasping and manipulation using mode transformation and a four-channel grasping/manipulating controller based on the control scheme. A second-order discrete Fourier transform (DFT) matrix is utilized as a mode transformation matrix. By means of the control scheme, a grasping controller and a manipulating controller can be designed independently in a grasping mode and a manipulating mode, respectively. In addition, we also propose a novel control method that combines the four-channel bilateral controller and the four-channel grasping/manipulating controller. This proposed controller makes it possible to select a proper mode depending on each situation, for example, bilateral grasping control. In the bilateral grasping control system, the manipulating mode is position-controlled locally in each side (master side and slave side), and the grasping mode is controlled bilaterally between master side and slave side. The validity of the proposed methods is shown by the experimental results.

Journal

IEEJ Transactions on Industry Applications

IEEJ Transactions on Industry Applications 127 (6), 563-570, 2007

The Institute of Electrical Engineers of Japan

Keywords

Details 詳細情報について

Export