TY - GEN
T1 - Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems
AU - Tai, Hideaki
AU - Murakami, Toshiyuki
PY - 2010/6/25
Y1 - 2010/6/25
N2 - In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in masterslave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results.
AB - In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in masterslave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results.
KW - Bilateral control
KW - Decoupled controller
KW - Disturbance force observer
KW - Disturbance torque observer
KW - Equivalent mass matrix
KW - Multi-degrees-of-freedom system
KW - Scaling
UR - http://www.scopus.com/inward/record.url?scp=77953744516&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953744516&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464107
DO - 10.1109/AMC.2010.5464107
M3 - Conference contribution
AN - SCOPUS:77953744516
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 343
EP - 348
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -