TY - GEN
T1 - Force capability evaluation methods for bilateral controlled manipulators
AU - Sekiguchi, Hiromu
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/5/6
Y1 - 2017/5/6
N2 - Manipulating force ellipsoid and force polytope are measurements to evaluate force capability of manipulators. This paper extends these measurements to bilateral controlled manipulators. Control goals of bilateral control are synchronizing position and realizing the law of action and reaction between master and slave. In the steady-state, master and slave should output same magnitude force in reverse direction to realize the law. Therefore, force capability of the whole system is regulated by master or slave which has smaller force capability. Thus, an intersection between two force ellipsoids or polytopes of master and slave represents force capability of the system. In this paper, two methods are proposed to evaluate the intersection considering gravity: one is based on force polytopes, and the other is based on manipulating force ellipsoids. Numerical examples are provided to compare characteristics of two methods.
AB - Manipulating force ellipsoid and force polytope are measurements to evaluate force capability of manipulators. This paper extends these measurements to bilateral controlled manipulators. Control goals of bilateral control are synchronizing position and realizing the law of action and reaction between master and slave. In the steady-state, master and slave should output same magnitude force in reverse direction to realize the law. Therefore, force capability of the whole system is regulated by master or slave which has smaller force capability. Thus, an intersection between two force ellipsoids or polytopes of master and slave represents force capability of the system. In this paper, two methods are proposed to evaluate the intersection considering gravity: one is based on force polytopes, and the other is based on manipulating force ellipsoids. Numerical examples are provided to compare characteristics of two methods.
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U2 - 10.1109/ICMECH.2017.7921089
DO - 10.1109/ICMECH.2017.7921089
M3 - Conference contribution
AN - SCOPUS:85020017083
T3 - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
SP - 111
EP - 116
BT - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Mechatronics, ICM 2017
Y2 - 13 February 2017 through 15 February 2017
ER -