A realization of multilateral force feedback control for cooperative motion

IEEE Transactions on Industrial Electronics

Volumn 54, Issue 6, 2007, Pages 3298-3306

  Katsura, Seiichiro ^a   Suzuyama, Toshiyuki ^a,b   Ohishi, Kiyoshi ^a  

^a NAGAOKA UNIVERSITY OF TECHNOLOGY   (Japan)

^b Nippon Cargo Airlines Company Ltd   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CARTESIAN COORDINATE SYSTEM; CO-ORDINATE SYSTEM; CO-ORDINATE TRANSFORMATION; CONTROL DESIGN; COOPERATIVE MOTION; FORCE FEEDBACK; FORCE FEEDBACK CONTROL; MASTER SYSTEMS; MODAL CONTROL; MULTI-MASTER; MULTILATERAL CONTROL; REMOTE ENVIRONMENT; SERVOING; SLAVE SYSTEMS; SPATIAL MODES;

CONTROL; ENVIRONMENTAL REGULATIONS; JOINTS (STRUCTURAL COMPONENTS); QUARRIES;

DESIGN;

EID: 80052383969     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2007.904003     Document Type: Article

References (31)

1. R. Anderson and M. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Autom. Control, vol. 34, no. 5, pp. 494-501, May 1989.
2. B. Hannaford, "A design framework for teleoperators with kinesthetic feedback," IEEE Trans. Robot. Autom., vol. 5, no. 4, pp. 426-434, Aug. 1989.
3. Y. Yokokohji and T. Yoshikawa, "Bilateral control of master-slave manipulators for ideal kinesthetic coupling-Formulation and experiment," IEEE Trans. Robot. Autom., vol. 10, no. 5, pp. 605-620, Oct. 1994.
4. D. A. Lawrence, "Stability and transparency in bilateral teleoperation," IEEE Trans. Robot. Autom., vol. 9, no. 5, pp. 624-637, Oct. 1993.
5. K. Kosuge, T. Itoh, T. Fukuda, and M. Otsuka, "Telemanipulation system based on task-oriented virtual tool," in Proc. IEEE ICRA, Aug. 1995, vol. 2, pp. 351-356.
6. R. Oboe, "Web-interfaced, force-reflecting teleoperation systems," IEEE Trans. Ind. Electron., vol. 48, no. 6, pp. 1257-1265, Dec. 2001. (Pubitemid 33149180)
7. R. Oboe, "Force-reflecting teleoperation over the Internet: The JBIT project," in Proc. IEEE, Mar. 2003, vol. 91, pp. 449-462. (Pubitemid 43773325)
8. K. Hashtrudi-Zaad and S. E. Salcudean, "Bilateral parallel force/position teleoperation control," J. Robot. Syst., vol. 19, no. 4, pp. 155-167, Apr. 2002. (Pubitemid 34291676)
9. K. Hashtrudi-Zaad and S. E. Salcudean, "Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation," IEEE Trans. Robot. Autom., vol. 18, no. 1, pp. 108-114, Feb. 2002. (Pubitemid 34414692)
10. L. Huijun and S. Aiguo, "Virtual-environment modeling and correction for force-reflecting teleoperation with time delay," IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1227-1233, Jun. 2007. (Pubitemid 46591043)
11. Y. Matsumoto, S. Katsura, and K. Ohnishi, "An analysis and design of bilateral control based on disturbance observer," in Proc. IEEE ICIT, Maribor, Slovenia, Dec. 2003, pp. 802-807. (Pubitemid 40761310)
12. S. Katsura,W. Iida, and K. Ohnishi, "Medical mechatronics-An application to haptic forceps," IFAC Annu. Rev. Control, vol. 29, no. 2, pp. 237-245, Nov. 2005. (Pubitemid 41607914)
13. T. Shimono, S. Katsura, and K. Ohnishi, "Abstraction and reproduction of force sensation from real environment by bilateral control," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 907-918, Apr. 2007. (Pubitemid 46603381)
14. Y. Matsumoto, S. Katsura, and K. Ohnishi, "Dexterous manipulation in constrained bilateral teleoperation using controlled supporting point," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 1113-1121, Apr. 2007.
15. K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics," IEEE/ASME Trans.Mechatronics, vol. 1, no. 1, pp. 56-67, Mar. 1996. (Pubitemid 126780847)
16. A. Sabanovic, "Sliding modes in power electronics and motion control systems," in Proc. 29th IEEE Annu. IECON, Roanoke, VA, Nov. 2003, pp. 997-1002.
17. A. Sabanovic, S. Khan, and C. Onal, "Hybrid motion controller-SMC point of view," in Proc. IEEE ISIE, Dubrovnik, Croatia, Jun. 2005, pp. 1483-1488. (Pubitemid 44335633)
18. M. Tomizuka, "Sensors in the engineering of modern mechatronic systems," in Proc. 3rd IFAC MECHATRONICS, Sydney, Australia, Sep. 2004, pp. 19-24.
19. S. Katsura, Y. Matsumoto, and K. Ohnishi, "Realization of 'law of action and reaction' by multilateral control," IEEE Trans. Ind. Electron., vol. 52, no. 5, pp. 1196-1205, Oct. 2005. (Pubitemid 41489362)
20. S. Katsura, K. Ohnishi, and K. Ohishi, "Transmission of force sensation by environment quarrier based on multilateral control," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 898-906, Apr. 2007. (Pubitemid 46591012)
21. S. Katsura and K. Ohnishi, "A realization of haptic training system by multilateral control," IEEE Trans. Ind. Electron., vol. 53, no. 6, pp. 1935-1942, Dec. 2006. (Pubitemid 46432486)
22. S. Sirouspour, "Modeling and control of cooperative teleoperation systems," IEEE Trans. Robot., vol. 21, no. 6, pp. 1220-1225, Dec. 2005. (Pubitemid 43033761)
23. T. Suzuyama, S. Katsura, and K. Ohishi, "Decoupled haptic transmission by multilateral control," in Proc. 9th IEEE Int. Workshop AMC, Istanbul, Turkey, Mar. 2006, vol. 1, pp. 334-339. (Pubitemid 44753254)
24. S. Katsura and K. Ohishi, "Modal system design of multirobot systems by interaction mode control," IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1537-1546, Jun. 2007.
25. M. Morisawa and K. Ohnishi, "Motion control taking environmental information into account," EPE J., vol. 12, no. 4, pp. 37-41, Nov. 2002.
26. S. Katsura and K. Ohnishi, "Quarry of modal information from environment for advanced motion control," IEEJ Trans. Ind. Appl., vol. 126-D, no. 4, pp. 372-378, Apr. 2006.
27. R. Kubo and K. Ohnishi, "An extraction method of environmental surface profile using planar end-effectors," in Proc. 9th IEEE Int.Workshop AMC, Istanbul, Turkey, Mar. 2006, vol. 1, pp. 368-373. (Pubitemid 44753260)
28. K. Ohishi, K. Ohnishi, and K. Miyachi, "Torque-speed regulation of DC motor based on load torque estimation," in Proc. IEEJ IPEC, Tokyo, Japan, Mar. 1983, vol. 2, pp. 1209-1216.
29. K. Ohnishi, N. Matsui, and Y. Hori, "Estimation, identification, and sensorless control in motion control system," in Proc. IEEE, Aug. 1994, vol. 82, pp. 1253-1265.
30. M. Bertoluzzo, G. S. Buja, and E. Stampacchia, "Performance analysis of a high-bandwidth torque disturbance compensator," IEEE/ASME Trans. Mechatronics, vol. 9, no. 4, pp. 653-660, Dec. 2004. (Pubitemid 40181619)
31. S. Katsura and K. Ohnishi, "Absolute stabilization of multi-mass resonant system by phase-lead compensator based on disturbance observer," in Proc. 9th IEEE Int. Workshop AMC, Istanbul, Turkey, Mar. 2006, vol. 1, pp. 194-199. (Pubitemid 44753230)