| Abstract |
In recent years, bilateral system has been
widely researched for its functionality and availability. The
system is effective in the fields of medical treatment, but
application is limited to one-on-one system. The purpose of
this study is development of basic technology for haptic information
sharing technology. In this paper, a noble bilateral
control method is introduced to realize multiple inputs or
plural outputs bilateral system. At first, bilateral system
based on acceleration control is discussed. Acceleration
control is accomplished by disturbance observer. Both of
master and slave are controlled by position regulator and
force servoing, and these two controllers are decomposed
into two modes in the virtual space. Decomposed controller
helps to control position and force information individually.
Second, the bilateral control is extended and generalized
as a multilateral control which based on the decomposed
controller. In the proposed multilateral control, interactivity
and synchronism are achieved easier than conventional control.
Third, numerical simulation and experimental results
are shown. Proposed method is easy to expand to infinite
dimension. As a minimum dimension of the multilateral
control, the series of experiments are conducted by six
robots. The numerical simulation and experimental results
show the viability of the proposed method. |
