Realization of "Law of action and reaction" by multilateral control
Realization of "Law of action and reaction" by multilateral control
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DOI：
10.1109/tie.2005.855699
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发表时间：
2005-10
影响因子：
7.7
通讯作者：
S. Katsura;Y. Matsumoto;K. Ohnishi
中科院分区：
文献类型：
--
作者：
S. Katsura;Y. Matsumoto;K. Ohnishi
近年来，在医疗和专家技能习得等领域，对触觉系统的实现有着强烈的需求。触觉学的关键是实现反作用力的生动表现，特别是在涉及触摸动作的应用中。本文介绍了一种通过多边控制实现“作用与反作用律”的方法。首先，讨论了基于扰动观测器的双边控制的分析和设计。扰动观测器是获取扰动力矩和实现鲁棒加速度控制的基本技术。将由位置控制和力控制组成的四通道加速度控制器分解为两种模式：普通模式和差分模式。将双侧控制设计视为单个关节的位置和力的控制。该方法在双侧力控制中较好地实现了从侧对主侧的反作用力。二是扩大双边控制，推广多边控制。多边控制的设计与双边控制相似，基于模态分解。具有触觉能力的机器人将在人类自适应机电一体化中发挥重要作用。
In recent years, the realization of a haptic system has been strongly desired in the fields of medical treatment and expert's skill acquisition. The key point of haptics is to realize a vivid presentation of reactive force, particularly in applications that involve touching action. In this paper, a realization of the "law of action and reaction" by multilateral control is introduced. First, an analysis and a design of bilateral control based on the disturbance observer are discussed. A disturbance observer is a basic technology for quarrying of disturbance torque and attainment of robust acceleration control. This paper shows that a four-channel controller which is composed of position control and force control in the acceleration dimension is decomposed into two modes: common and differential modes. A design of bilateral control is treated as position and force control in a single joint. The proposed method generates a good realization of reactive force for the slave side at the master side in bilateral force control. Second, bilateral control is extended and multilateral control is generalized. Multilateral control is designed similarly as bilateral control based on the modal decomposition. Robots with a haptic ability will have an important role in human adaptive mechatronics.