Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System

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: 2014/05/01

タイトル(英語): Force-Based Compliance Controller Utilizing Visual Information for Motion Navigation in Haptic Bilateral Control System

著者名: Muhammad Herman Jamaluddin (Yokohama National University), Tomoyuki Shimono (Yokohama National University), Naoki Motoi (Graduate School of Maritime Sciences, Kobe University)

著者名(英語): Muhammad Herman Jamaluddin （Yokohama National University）, Tomoyuki Shimono （Yokohama National University）, Naoki Motoi （Graduate School of Maritime Sciences, Kobe University）

キーワード: haptics，motion control，sensory integration，bilateral control，scaling factor，vision system

要約(英語): This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method.

本誌: IEEJ Journal of Industry Applications Vol.3 No.3 （2014）

本誌掲載ページ: 227-235 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/3/3/3_227/_article/-char/ja/