A realization of haptic training system by multilateral control
A realization of haptic training system by multilateral control
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DOI：
10.1109/tie.2006.885465
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发表时间：
2006-11
期刊：
影响因子：
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通讯作者：
S. Katsura;K. Ohnishi
中科院分区：
文献类型：
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作者：
S. Katsura;K. Ohnishi
近年来，在医疗和专家技能获取领域中，强烈期望实现触觉系统。为了获得和再现逼真的触觉，必须对机器人与环境之间的相互作用进行分析，并对来自环境的反作用力进行观测，同时对双方控制系统的结构进行综合系统设计。本文基于多边控制实现了力觉训练系统。作用和反作用定律是由三个机器人实现的。扩展了双边控制，引入了多边控制。多边控制的设计类似于双边控制的基础上的模态分解;力控制的共模，和位置控制的差模。位置和力的比例因子独立设置。因此，可以根据受训者的技能水平改变训练者的辅助力量。提出的基于多边控制的训练系统将是触觉设备进化的基础技术。
In recent years, realization of a haptic system is desired strongly in the fields of medical treatment and expert's skill acquisition. An integrated system design of an analysis of interaction between a robot and environment required for stable contact operation, an observation method of reaction force from the environment, and architecture of bilateral control system is absolutely essential for acquisition and reproduction of a vivid tactile sensation. In this paper, haptic training system (HTS) is realized based on multilateral control. The law of action and reaction is attained by three robots. Bilateral control is extended and multilateral control is introduced. Multilateral control is designed similarly as bilateral control based on the modal decomposition; force is controlled in the common mode, and position is controlled in the differential mode. Scaling factors of position and force are set independently. Therefore, it is possible to change a trainer's assistant force according to a trainee's skill level. Proposed training system based on multilateral control will be a fundamental technology for evolution of haptic devices.