TY - GEN
T1 - Estimation and share of environmental impedance using multiple robots for haptic broadcasting
AU - Kitamura, Kazuya
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2009/7/17
Y1 - 2009/7/17
N2 - Bilateral control system has been developed as a method to transmit tactile sense in order to be applied to handling radioactive material, operating unmanned underwater vehicles, space robotics, telesurgery, etc. Bilateral control system is able to transmit tactile sense to only one operator. To transmit tactile sense to multiple operators, multilateral control was expanded from bilateral control. However, tactile sense of environment which general multilateral control system transmits to an operator is significantly affected by other operators' motion. This paper proposes a novel control system which transmits environmental impedance to multiple operators. The proposed system uses master-slave system consisting of multiple master robots and a single slave robot. Both position and force information is transmitted bi-directionally between each master robot and a slave in the proposed system, whereas the information is transmitted among all robots in general multilateral control system. In addition, a method to estimate environmental impedance given by spring-damper model is proposed, since the proposed control system requires real-time estimation of environmental impedance. The validity of the proposed system is confirmed by simulation and experiment.
AB - Bilateral control system has been developed as a method to transmit tactile sense in order to be applied to handling radioactive material, operating unmanned underwater vehicles, space robotics, telesurgery, etc. Bilateral control system is able to transmit tactile sense to only one operator. To transmit tactile sense to multiple operators, multilateral control was expanded from bilateral control. However, tactile sense of environment which general multilateral control system transmits to an operator is significantly affected by other operators' motion. This paper proposes a novel control system which transmits environmental impedance to multiple operators. The proposed system uses master-slave system consisting of multiple master robots and a single slave robot. Both position and force information is transmitted bi-directionally between each master robot and a slave in the proposed system, whereas the information is transmitted among all robots in general multilateral control system. In addition, a method to estimate environmental impedance given by spring-damper model is proposed, since the proposed control system requires real-time estimation of environmental impedance. The validity of the proposed system is confirmed by simulation and experiment.
UR - http://www.scopus.com/inward/record.url?scp=67650336879&partnerID=8YFLogxK
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U2 - 10.1109/ICIT.2009.4939654
DO - 10.1109/ICIT.2009.4939654
M3 - Conference contribution
AN - SCOPUS:67650336879
SN - 1424435064
SN - 9781424435067
T3 - Proceedings of the IEEE International Conference on Industrial Technology
BT - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
T2 - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
Y2 - 10 February 2009 through 13 February 2009
ER -