Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme
Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme
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基于多边控制方案的双边抓取系统柔性控制器设计
DOI：
10.1109/tie.2008.2007010
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发表时间：
2009
影响因子：
7.7
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
R. Kubo;T. Shimono;K. Ohnishi
提出了一种新型的包含不同自由度主从机器人的双向抓取控制系统。主控制器和从控制器的设计基于多边控制方案。利用离散傅立叶变换矩阵和干扰观测器，通过模态变换实现了力和位置控制器的解耦设计。在该系统中，一个人类操作员操纵两个主机器人，三个从机器人抓住一个物体合作。所提出的系统使得有可能紧紧抓住一个对象在奴隶的一方，并生动地传递把握人类操作员的感觉。数值计算和实验结果表明了该方法的有效性。
This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.