TY - GEN
T1 - A realization of multilateral force feedback control for cooperative motion
AU - Katsura, Seiichiro
AU - Suzuyama, Toshiyuki
AU - Ohishi, Kiyoshi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - The paper proposes a novel control design for multilateral system considering different degrees of freedom (DOF) and structure. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for bilateral and/or multilateral control for dexterous tasks including grasping motion. The paper introduces spatial mode transformation, which is corresponding to human's tasks. The spatial modes are abstracted by using mode quarry matrices. The order of the mode quarry matrices means the task DOF, and the decoupled modes correspond to "translational task", "yawing task", "grasping task", and so on. Thus the problems for motion integration of different DOF and structure are solved to design multilateral controller in the spatial mode coordinate systems. Furthermore, the proposed multilateral control is designed based on acceleration control to realize both the force servoing and the position regulator for action-reaction law in remote environment simultaneously. The proposed multilateral control is applied for a multimaster/single-slave system, where the DOF is different from each other. As a result, a complicated task for slave system is easily realized by two master system with vivid force feedback based on modal control design of the multilateral system. The experimental results show viability of the proposed method.
AB - The paper proposes a novel control design for multilateral system considering different degrees of freedom (DOF) and structure. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for bilateral and/or multilateral control for dexterous tasks including grasping motion. The paper introduces spatial mode transformation, which is corresponding to human's tasks. The spatial modes are abstracted by using mode quarry matrices. The order of the mode quarry matrices means the task DOF, and the decoupled modes correspond to "translational task", "yawing task", "grasping task", and so on. Thus the problems for motion integration of different DOF and structure are solved to design multilateral controller in the spatial mode coordinate systems. Furthermore, the proposed multilateral control is designed based on acceleration control to realize both the force servoing and the position regulator for action-reaction law in remote environment simultaneously. The proposed multilateral control is applied for a multimaster/single-slave system, where the DOF is different from each other. As a result, a complicated task for slave system is easily realized by two master system with vivid force feedback based on modal control design of the multilateral system. The experimental results show viability of the proposed method.
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U2 - 10.1109/ICIT.2006.372393
DO - 10.1109/ICIT.2006.372393
M3 - Conference contribution
AN - SCOPUS:51349115516
SN - 1424407265
SN - 9781424407262
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 340
EP - 345
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 -