Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

Nozaki, Tsutomu; Mizoguchi, Takahiro; Saito, Yuki; Nakano, Tomohiro; Ohnishi, Kouhei

doi:10.1541/ieejjia.2.67

Cited by 5 publications

(4 citation statements)

References 35 publications

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“…Taking into account the identities given between (14) and (20), by proper substitutions the secondorder dynamics of the error vector can be given as…”

Section: Derivation Of Bilateral Controllermentioning

confidence: 99%

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Performance improvement of bilateral control systems using derivative of force

Baran

Uzunović²,

Şabanoviç³

2018

Robotica

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SUMMARYThis paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an α–β–γ filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.

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“…Taking into account the identities given between (14) and (20), by proper substitutions the secondorder dynamics of the error vector can be given as…”

Section: Derivation Of Bilateral Controllermentioning

confidence: 99%

“…Many researchers also focus on the problems of teleoperation systems for which signal transmission delays are not involved in the control loop 20,21 (i.e. systems targeting indoor operation).…”

Section: Introductionmentioning

confidence: 99%

Performance improvement of bilateral control systems using derivative of force

Baran

Uzunović²,

Şabanoviç³

2018

Robotica

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“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”

Section: Motion Controlmentioning

confidence: 99%

Recent advances and outlook in industrial instrumentation and mechatronics control

Shimada

2016

IEEJ Transactions Elec Engng

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Recent years have been characterized by marked progress in industrial instrumentation and mechatronics control technology. This year commemorates the fifth publication year of the IEEJ Journal of Industry Applications (emIEEJ J. IA). Additionally, the Mechatronics Control (MEC) technical committee was formed 3 years ago following a separation from the Industrial Instruments and Control (IIC) technical committee in order to further enhance their respective social contributions. The increased activity of both committees also contributed to the progress of the Journal. This paper discusses the recent advances and outlook in the technical field of industrial instrumentation and mechatronics control based on papers published in the IEEJ J. IA and a few other significant papers, which consider the current activities of the various committees.

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“…A human motion and unknown environment information can be obtained simultaneously by using a bilateral control. From the above reason, a human support system based on the bilateral control has been researched in various fields (5) . A motion-copying system is one of the application of the bilateral control, and a lot of researches have been reported (6) .…”

Section: Introductionmentioning

confidence: 99%

Clarification of Fundamental Motion Using Hierarchical Clustering and Graph Theory

Kono

Katsura

2016

IEEJ Journal IA

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Recently, the development of motion-copying systems has enabled us to preserve and reproduce motion data including contact motion by humans. A system having multiple degrees of freedom (DOFs) is necessary for precise preservation of human motion. However, the DOF of a permeating device might not be the same as the DOF of the device used at the time of motion saving. The motion data should be reproduced precisely even if the system has a lower DOF than the system of the motion-saved phase. To address this problem, a method to determine redundant motion data on the basis of analysis of human motion is proposed. Hierarchical clustering is used for the analysis of motion data having high similarity. Furthermore, redundant motion data are determined for the maximum eigenvalue and eigenvector obtained from the adjacency matrix in graph theory. Using graph theory, the redundant data can be determined in each motion. The saved motion is reproduced by a lower-DOF system. The validity of the proposed method is confirmed by experiments in which grasping-motion data with four DOFs are reproduced by a 3-DOF device.

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Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

Cited by 5 publications

References 35 publications

Performance improvement of bilateral control systems using derivative of force

Performance improvement of bilateral control systems using derivative of force

Recent advances and outlook in industrial instrumentation and mechatronics control

Clarification of Fundamental Motion Using Hierarchical Clustering and Graph Theory

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