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Flexible controller design of bilateral grasping systems based on a multilateral control scheme / Kubo, R. in IEEE transactions on industrial electronics, Vol. 56 N°1 (Janvier 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N°1 (Janvier 2009) . - pp. 62 - 68 Titre : Flexible controller design of bilateral grasping systems based on a multilateral control scheme Type de document : texte imprimé Auteurs : Kubo, R., Auteur ; Shimono, T., Auteur Année de publication : 2009 Article en page(s) : pp. 62 - 68 Note générale : electronics Langues : Anglais (eng) Mots-clés : control  system  synthesis;  discrete  Fourier  transforms;  flexible  manipulators;  force  control;  matrix  algebra;  observers;  position  control Résumé : 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. En ligne : http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4663716&sortType%3Das [...] [article] Flexible controller design of bilateral grasping systems based on a multilateral control scheme [texte imprimé] / Kubo, R., Auteur ; Shimono, T., Auteur . - 2009 . - pp. 62 - 68. electronics Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N°1 (Janvier 2009) . - pp. 62 - 68 Mots-clés : control  system  synthesis;  discrete  Fourier  transforms;  flexible  manipulators;  force  control;  matrix  algebra;  observers;  position  control Résumé : 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. En ligne : http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4663716&sortType%3Das [...]