Decoupled haptic transmission by multilateral control
Decoupled haptic transmission by multilateral control
复制标题
通过多边控制解耦触觉传输
DOI：
10.1109/amc.2006.1631680
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Ohishi
中科院分区：
文献类型：
--
作者：
T. Suzuyama;S. Katsura;K. Ohishi
本文提出了一种新颖的双向控制方法来实现解耦力觉传递技术。首先讨论了基于加速度控制的双边系统。加速度控制由干扰观测器实现。在虚拟空间中，主、从控制器分别由位置调节器和力伺服控制器控制，并将这两种控制器分解为共模和差模两种模式。分解控制器有助于单独控制位置和力信息。其次，在控制器分解的基础上，将双边控制推广为多边控制。在所提出的多边控制中，交互性和同步性比传统控制更容易实现。第三，为了实现触觉信息的解耦，在差模中引入了IR（身份比）。IR显示共模下每个输入的比率。虽然从机器人是由多个主机器人控制的，但每个主机器人都可以通过红外线感受到真实的环境。该方法易于扩展到无穷维。作为多边控制的最小维度，该系列实验由三个机器人进行。数值模拟和实验结果表明了该方法的可行性
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. Acceleration control is accomplished by disturbance observer. 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. In the proposed multilateral control, interactivity and synchronism are achieved easier than conventional control. 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 real environment by using IR. Fourth, numerical simulation and experimental results are shown. Proposed method is easy to expand to infinite dimension. As a minimum dimension of the multilateral control, the series of experiments are conducted by three robots. The numerical simulation and experimental results shows the viability of the proposed method