Micro-macro Bilateral Control Research Articles

画像情報に基づく情報拡張機能を有するバイラテラル遠隔制御システム

Master-slave teleoperation robots are useful for tasks that require human judgments and skills. Haptic sensation can be transmitted between a master and a slave by implementing bilateral control. Besides, visual information of the slave side that cannot be directly seen from the master side is presented by devices such as cameras, endoscopes, and displays. Therefore, advanced support of the teleoperation robots for operators can be expected by utilizing extended visual and haptic information. In this paper, a master-slave teleoperation system with ability to extend information transmitted to operators is proposed. The teleoperation system consists of one degree of freedom master-slave system implementing bilateral control based on robust acceleration control and an image processing system. To support operators, visual and haptic augmented reality is generated by image processing, micro-macro bilateral control, and compliance control. In addition, a design method of position and force scaling for micro-macro bilateral control according to magnification ratio of image is presented. The utility of the proposed bilateral teleoperation system is verified by experiments.

Investigation on Standardization of Modal Space by Ratio for MDOF Micro-Macro Bilateral Teleoperation Control System

This paper presents the research on micro-macro bilateral teleoperation control system of two ink planar manipulator. The micro-macro bilateral control system consists of different size between master and slave system using geared DC-motor. Both master and slave manipulators are actuated by DC-Micromotor attached to planetary gearhead to increase the output torque. In the previous researches the most common actuators used were linear motor and direct-drive DC motors. However, the application of DC motor with gearhead are vast in industry, which need high output force or torque. Thus in this paper, research on micro-macro bilateral teleoperation control system is proposed with the use of gear with the DC-motor. The micro-macro bilateral teleoperation control system provides the human operator with a sense of feel to a micro or macro environment as if it is in the same scale environment. Thus a standardization method is proposed to achieve micro-macro bilateral teleoperation control system. During the experiment, experiment on free motion and contact motion are conducted to validate the proposed setup in bilateral teleoperation control system. The position and torque responses of both master and slave manipulators are observed. The operationality and reproducibility of this proposed system are evaluated through proposed experimental results.

Micro-Macro Bilateral Control in Delta Robot

This paper presents new method to perform micro-macro bilateral control system in robot with non-linear kinematic property between task space and controllable space. An example is the parallel Delta Robot which is selected due to better interaction with human, light weight, fast movement and 3-dimension movement. The conventional micro-macro bilateral control using Hadamard matrix cannot achieve micro-macro bilateral properties of Delta Robot due to dimension shifting which leads to differences in both position and force space and loss of sensibility in haptic interface properties. The actual robot is built with design properties of low friction that reduce the complexity of dynamic model of Delta Robot. The controllable space or joint space is converted to task space using mathematic model. Moreover, the force applied on task space is estimated using sensorless force control system or disturbance observer and converted to task space by Andre Olsson’s dynamic model of Delta Robot.

Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control

In this study, we show that tasks can be realized by appropriate coordinate transformation. This approach, oblique coordinate control, decouples tasks. Even though a system is large, they can be designed by a combination of small tasks. Therefore, tasks can be regarded as reusable components. In this study, micro-macro bilateral control is achieved as a complicated task. Small objects can be manipulated as large objects in micro-macro bilateral control. However, ideal micro-macro bilateral controllers are usually derived only for single-degree-of-freedom (DOF) systems. Then, we propose a micro-macro bilateral controller for multi-DOF on the basis of oblique coordinate control. To obtain multi-DOF bilateral control, we first derive control goals as kinematic relations. This study also considers the case where scaling gains of position and force are selected in a different manner. The goals of micro-macro bilateral control are then controlled by oblique coordinate control. The validity of the proposed method is experimentally verified.

Micro-Macro Bilateral Control Taking into Account Scaling of Control Gains

In micro-macro bilateral control systems, it is important to use position and force scaling factors that depend on the size of the master and slave system. Moreover, it is vital for control systems to use appropriate control gains depending on the scaling ratio between master and slave response. This paper proposes a micro-macro bilateral control system based on the scaling of control gains. In this system, the control gains of the master and slave system are adjusted to appropriate values by using control gain scaling factors. These scaling factors are obtained by designing a micro-macro bilateral control system to achieve ideal reproducibility. To verify the validity of the proposed system, analytical results for the reproducibility, operationality, and stability of the proposed control system are presented in this paper. Moreover, the proposed system is used in an experimental micro-macro bilateral system, and the results are presented.