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Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control

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3 Author(s)
Sho Sakaino ; Ohnishi Laboratory, the Department of System Design Engineering, Keio University, Yokohama, Japan ; Tomoya Sato ; Kouhei Ohnishi

In this study, we show that tasks can be realized by appropriate coordinate transformation. This approach, oblique coordinate control, decouples tasks. Even though a system is large, they can be designed by a combination of small tasks. Therefore, tasks can be regarded as reusable components. In this study, micro-macro bilateral control is achieved as a complicated task. Small objects can be manipulated as large objects in micro-macro bilateral control. However, ideal micro-macro bilateral controllers are usually derived only for single-degree-of-freedom (DOF) systems. Then, we propose a micro-macro bilateral controller for multi-DOF on the basis of oblique coordinate control. To obtain multi-DOF bilateral control, we first derive control goals as kinematic relations. This study also considers the case where scaling gains of position and force are selected in a different manner. The goals of micro-macro bilateral control are then controlled by oblique coordinate control. The validity of the proposed method is experimentally verified.

Published in:

IEEE Transactions on Industrial Informatics  (Volume:7 ,  Issue: 3 )