Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2013/01/01

タイトル(英語): Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

著者名: Takahiro Nozaki (School of Integrated Design Engineering, Keio University), Takahiro Mizoguchi (School of Integrated Design Engineering, Keio University), Yuki Saito (School of Integrated Design Engineering, Keio University), Tomohiro Nakano (School of In

著者名(英語): Takahiro Nozaki (School of Integrated Design Engineering, Keio University), Takahiro Mizoguchi (School of Integrated Design Engineering, Keio University), Yuki Saito (School of Integrated Design Engineering, Keio University), Tomohiro Nakano (School of Integrated Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: Haptics，coordinate transformation，different configuration，bilateral control，robot hand，forceps robot

要約(英語): Conventional bilateral controllers have been designed on the basis of a tool coordinate system. However, from the viewpoint of versatility, a transformation technique based on physical features of an operator is advantageous. Therefore, this paper proposes a bilateral control technique that can be used to operate slave robots; the technique is based on motion features of an operator and facilitates intuitive operation. Here, motion features imply displacement ratios of joints. A coordinate transformation matrix containing the motion features of the operator is obtained by principal component analyses. The transformation matrix can be used to abstract the motion features, while other transformation matrices require symmetric motion or symmetric sensor placement. The validity of the proposed bilateral control method is experimentally verified. In an experiment, the proposed method is applied to a wearable robot hand and a forceps robot. A grasping motion extracted by the wearable robot hand is transmitted to the forceps robot on the basis of the obtained coordinate transformation matrix.

本誌: IEEJ Journal of Industry Applications Vol.2 No.1 （2013） Special Issue on Motion Control and its Related Technologies

本誌掲載ページ: 67-73 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/1/2_67/_article/-char/ja/