| Abstract |
In recent years, a realization of haptic system is
desired strongly in the fields of medical treatment and expert’s
skill acquisition. The key - point of haptics is to realize a vivid
presentation of reactive force, particularly in applications that
involve touching action. An integrated system design of an
analysis of interaction between a robot and the environment
required for stable contact operation, an observation method
of reaction force from the environment, and architecture of
bilateral control system is absolutely essential for acquisition
and reproduction of a vivid tactile sensation.
A disturbance observer is a basic technology for quarry
of disturbance torque and attainment of robust acceleration
control. By using wide band width of force sensing based on the
disturbance observer, an ability of bilateral control is drastically
improved. A four - channel controller which is integrated of
position control and force control in the acceleration dimension
is decomposed into two modes; common and differential modes.
A design of bilateral control is treated as position and force
control in single joint, respectively.
Our research group has successfully generated a good realization
of reactive force for slave side at master side in bilateral
force control. This haptic feedback has been implemented in the
medical forceps. Proposed bilateral control architecture based on
quarry of the environmental information will be a fundamental
technology for evolution of haptic devices. |
