TY - GEN
T1 - Bilateral teleoperation with different configurations using interaction mode control
AU - Katsura, Seiichiro
AU - Suzuyama, Toshiyuki
AU - Ohishi, Kiyoshi
PY - 2007/12/1
Y1 - 2007/12/1
N2 - The paper realizes a bilateral teleoperation system considering different configurations. The haptic devices used in this paper are based on three master systems and one slave system. Each master system has one degree of freedom (DOF); and the slave system has three DOF. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for dexterous tasks including grasping motion. The paper introduces a bilateral teleoperation with spatial mode transformation, which is corresponding to human's task motions. The spatial modes are abstracted by using an interaction mode control. The interaction mode control decomposes the bilateral teleoperation system into three decoupled modes; "translational", "rotating", and "grasping" motions. Thus the problems for motion integration of bilateral teleoperation system with different configurations are solved to design each bilateral controller with respect to the spatial mode coordinate system. Furthermore, the proposed system is designed based on acceleration control to realize both the force servoing and the position regulator for the "law of action and reaction" in remote environment simultaneously. As a result, a complicated task for the slave system is easily realized by three master systems with vivid force feedback. The experimental results show viability of the proposed method.
AB - The paper realizes a bilateral teleoperation system considering different configurations. The haptic devices used in this paper are based on three master systems and one slave system. Each master system has one degree of freedom (DOF); and the slave system has three DOF. The conventional coordinate transformation with respect to the Cartesian coordinate system is not always suitable for dexterous tasks including grasping motion. The paper introduces a bilateral teleoperation with spatial mode transformation, which is corresponding to human's task motions. The spatial modes are abstracted by using an interaction mode control. The interaction mode control decomposes the bilateral teleoperation system into three decoupled modes; "translational", "rotating", and "grasping" motions. Thus the problems for motion integration of bilateral teleoperation system with different configurations are solved to design each bilateral controller with respect to the spatial mode coordinate system. Furthermore, the proposed system is designed based on acceleration control to realize both the force servoing and the position regulator for the "law of action and reaction" in remote environment simultaneously. As a result, a complicated task for the slave system is easily realized by three master systems with vivid force feedback. The experimental results show viability of the proposed method.
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U2 - 10.1109/ISIE.2007.4375114
DO - 10.1109/ISIE.2007.4375114
M3 - Conference contribution
AN - SCOPUS:50049105759
SN - 1424407559
SN - 9781424407552
T3 - IEEE International Symposium on Industrial Electronics
SP - 3120
EP - 3125
BT - 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007, Proceedings
T2 - 2007 IEEE International Symposium on Industrial Electronics, ISIE 2007
Y2 - 4 June 2007 through 7 June 2007
ER -