Decoupling type multilateral control by using identity ratio

Toshiyuki Suzuyama, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Article査読

5 被引用数 (Scopus)


In this paper, a noble bilateral control method is introduced to realize decoupled haptic transmission technology. At first, bilateral system based on acceleration control is discussed. Both of master and slave are controlled by position regulator and force servoing, and these two controllers are decomposed into two modes "common mode" and "differential mode" in the virtual space. Decomposed controller helps to control position and force information individually. Second, the bilateral control is extended and generalized as a multilateral control, which based on the decomposed controller. Third, to realize decoupled haptic information, IR (identity ratio) is introduced into differential mode. IR shows ratio of each input in the common mode. Although slave robot is controlled by a numbers of masters, each of masters can feel the sense which depend on their inputs. Fourth, numerical simulation and experimental results are shown. The numerical simulation and experimental results show the viability of the proposed method.

ジャーナルieej transactions on industry applications
出版ステータスPublished - 2007

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学


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