TY - GEN
T1 - A bilateral controller design method for master-slave robots with different DOF
AU - Kubo, Ryogo
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
PY - 2006/12/1
Y1 - 2006/12/1
N2 - In this paper, a bilateral controller for masterslave robots with different DOF (degrees of freedom) is designed based on concept of multilateral control. A multilateral control system is a kind of bilateral control systems, and it is composed of multi-master and multi-slave robots, e.g. two master robots and three slave robots. It is shown that multilateral control, including bilateral control, is realized by using mode transformation by DFT (discrete Fourier transform). In addition, decoupling of each mode and transparency for multilateral control are discussed. Moreover, multilateral control is applied to a bilateral grasping control system. In this system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by the experimental results.
AB - In this paper, a bilateral controller for masterslave robots with different DOF (degrees of freedom) is designed based on concept of multilateral control. A multilateral control system is a kind of bilateral control systems, and it is composed of multi-master and multi-slave robots, e.g. two master robots and three slave robots. It is shown that multilateral control, including bilateral control, is realized by using mode transformation by DFT (discrete Fourier transform). In addition, decoupling of each mode and transparency for multilateral control are discussed. Moreover, multilateral control is applied to a bilateral grasping control system. In this system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by the experimental results.
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U2 - 10.1109/ICIT.2006.372337
DO - 10.1109/ICIT.2006.372337
M3 - Conference contribution
AN - SCOPUS:51349112843
SN - 1424407265
SN - 9781424407262
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 328
EP - 333
BT - 2006 IEEE International Conference on Industrial Technology, ICIT
T2 - 2006 IEEE International Conference on Industrial Technology, ICIT
Y2 - 15 December 2006 through 17 December 2006
ER -