Multilateral Haptic Feedback Control by Transmission of Force Information
Multilateral Haptic Feedback Control by Transmission of Force Information
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DOI：
10.1109/aim43001.2020.9158886
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发表时间：
2020-07
期刊：
影响因子：
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通讯作者：
Yuki Nagatsu;H. Hashimoto
中科院分区：
文献类型：
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作者：
Yuki Nagatsu;H. Hashimoto
近年来，在工业领域和极端环境中，机器人取代人类劳动力的需求一直存在。其中，遥操作技术有望发挥重要作用。提出了一种基于力信息传递的多边力觉反馈控制方法。传统的多边形控制是基于位置/力混合控制，但所提出的方法可以实现与传统方法等效的控制性能，通过只传递力信息。所提出的方法可以减少量的触觉数据流量和存储的触觉数据，因为只有一种类型的信息的利用。仿真和实验评估所提出的方法与传统的方法进行比较。
In recent years, there has been a demand for robots to replace human labor in industrial fields and extreme environments. Among them, teleoperation technologies are expected to play an important role. This study proposes a multilateral haptic feedback control based on force-information transmission. Conventional multilateral control is based on a position/force hybrid control, but the proposed method can achieve a control performance equivalent to the conventional method by transmitting only force information. The proposed method can reduce the amount of haptic data traffic and stored haptic data because of the utilization of only one type of information. Simulations and experiments evaluate the proposed method with a comparison to the conventional method.