TY - GEN
T1 - Bilateral teleoperation based on modal system design
AU - Ishii, Ena
AU - Katsura, Seiichiro
AU - Nishi, Hiroaki
AU - Ohnishi, Kouhei
PY - 2005
Y1 - 2005
N2 - Technology for teleoperation has been needed in many scenes. Especially in robotic surgery, It is required that to transmit the tactile sensation to the operator. To attain that need, teleoperation method called bilateral has developed. Bilateral means transmit information each other. Environmental information is transmitted both from master to slave and from slave to master in bilateral teleoperation. In bilateral teleoperation, environmental information of master and slave should be exchanged in common coordinates. It is difficult to define a common coordinates in different structured bilateral teleoperation. Mode based control for bilateral teleoperation is proposed in this paper. Coordinates based on geometric mode is used to common coordinates to exchange the environmental information between master robot and slave robot. Geometric environmental mode is quarried by quarry matrix and hypothetical axes bilateral controller based on acceleration control is applied to hypothetical mode motors. Hypothetical mode master motor and mode slave motor are transformed to mode common motor and mode differential motor. Force servo controller is applied to mode common motor and position regulator is applied to mode differential motor. Viability of proposed method is shown in experimental result.
AB - Technology for teleoperation has been needed in many scenes. Especially in robotic surgery, It is required that to transmit the tactile sensation to the operator. To attain that need, teleoperation method called bilateral has developed. Bilateral means transmit information each other. Environmental information is transmitted both from master to slave and from slave to master in bilateral teleoperation. In bilateral teleoperation, environmental information of master and slave should be exchanged in common coordinates. It is difficult to define a common coordinates in different structured bilateral teleoperation. Mode based control for bilateral teleoperation is proposed in this paper. Coordinates based on geometric mode is used to common coordinates to exchange the environmental information between master robot and slave robot. Geometric environmental mode is quarried by quarry matrix and hypothetical axes bilateral controller based on acceleration control is applied to hypothetical mode motors. Hypothetical mode master motor and mode slave motor are transformed to mode common motor and mode differential motor. Force servo controller is applied to mode common motor and position regulator is applied to mode differential motor. Viability of proposed method is shown in experimental result.
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U2 - 10.1109/ISIE.2005.1529159
DO - 10.1109/ISIE.2005.1529159
M3 - Conference contribution
AN - SCOPUS:33748341702
SN - 0780387384
SN - 9780780387386
T3 - IEEE International Symposium on Industrial Electronics
SP - 1527
EP - 1532
BT - Proceedings of the IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
T2 - IEEE International Symposium on Industrial Electronics 2005, ISIE 2005
Y2 - 20 June 2005 through 23 June 2005
ER -