TY - GEN
T1 - Null-space control considering environment condition in bilateral teleoperation
AU - Okura, Takeshi
AU - Katsura, Seiichiro
PY - 2011/5/18
Y1 - 2011/5/18
N2 - Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.
AB - Recently, haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the bilateral control with a master-slave system is used widely. When the plural systems are operated, it is desirable that the system carries out a complementary work autonomously in order to realize the desired task of the operator. Therefore, in this paper, the control technique that considers work and control structure hierarchically is proposed. By this method, the operator can concentrate on a desired task while a system realizes adaptation to the environment autonomously. In this paper, one-to-many bilateral control is realized. The bilateral remote control could be realized while the slave system adapts to the environment autonomously. Moreover, the operator can operate the system without minding the change of the environmental configuration and posture.
KW - Bilateral Control
KW - Force Feedback Control
KW - Haptic Energy Conversion
KW - Human Support System
KW - Motion Control
KW - Real-World Haptics
UR - http://www.scopus.com/inward/record.url?scp=79955930676&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79955930676&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2011.5754410
DO - 10.1109/ICIT.2011.5754410
M3 - Conference contribution
AN - SCOPUS:79955930676
SN - 9781424490660
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 399
EP - 404
BT - Proceedings - ICIT 2011
T2 - 2011 IEEE International Conference on Industrial Technology, ICIT 2011
Y2 - 14 March 2011 through 16 March 2011
ER -