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Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme

2008; Institute of Electrical and Electronics Engineers; Volume: 56; Issue: 1 Linguagem: Inglês

10.1109/tie.2008.2007010

1557-9948

Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi,

Geophysics and Sensor Technology

This paper describes a novel bilateral grasping control system including master-slave robots with different degree of freedom. The master and slave controllers are designed based on a multilateral control scheme. Decoupling design of force and position controllers is realized by mode transformation using the discrete Fourier transform matrices and a disturbance observer. In the proposed system, a human operator manipulates two master robots, and three slave robots grasp an object cooperatively. The proposed system makes it possible to grasp an object tightly in the slave side and to transmit feeling of grasping to a human operator vividly. The validity of the proposed method is shown by numerical and experimental results.