Bilateral control considering singularity based on observation of torque error | IEEE Conference Publication | IEEE Xplore

Bilateral control considering singularity based on observation of torque error


Abstract:

Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular conf...Show More

Abstract:

Recently, there are many researches of a system which has implemented a bilateral control system which can touch an environment in distant place. However, a singular configuration due to the inverse Jacobian matrix becomes the problem in a bilateral control with different configurations. In this paper, the problem of a singular configuration regarding the inverse Jacobian matrix is avoided by singularity-consistent method. In addition, an error observation method of a torque regarding the singularity-consistent method is proposed. And, the bilateral control system consists of a parallel link manipulator and a serial link manipulator. When the direct kinematics of the parallel link manipulator is derived, mode decoupling method is introduced. Finally, proposed method and sc method are applied to the bilateral control system with different configurations, its system is realized and the error of the torque due to singularity-consistent method is observed. The experimental results of the bilateral control with different configurations are shown.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
ISBN Information:

ISSN Information:

Conference Location: Nagaoka, Japan

Contact IEEE to Subscribe

References

References is not available for this document.