Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme
Kubo, R.
Shimono, T.
Ohnishi, K.
Dept. of Syst. Design Eng., Keio Univ., Yokohama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jan. 2009
Volume: 56,
Issue: 1
On page(s): 62-68
ISSN: 0278-0046
INSPEC Accession Number: 10370826
Digital Object Identifier: 10.1109/TIE.2008.2007010
First Published: 2008-10-31
Current Version Published: 2008-12-30
Abstract
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.
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