Task Based Bilateral Control for Microsystems Application

Elitaş, Meltem; Khan, Shahzad; Nergiz, Ahmet Özcan; Şabanoviç, Asif

doi:10.1080/00051144.2011.11828410

Cited by 5 publications

(3 citation statements)

References 19 publications

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“…It has been demonstrated that this bilateral control theory can attain high transparency. Then, the applications of the principle of acceleration-based bilateral control are expected to advance the motion control technology for a haptic communication over the network [10], a high precision micro manipulation [11,12], a novel skill preservation [13], an innovative medical treatment system [14], and so on.…”

Section: Introductionmentioning

confidence: 99%

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

2013

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Original scientific paperIn this paper, two kinds of evaluation index for the haptic motion analysis in parallel multiple degrees-offreedom (MDOF) system are proposed. At first, the spatial modal decomposition method based on discrete Fourier series expansion (DFS) is presented. Spatial modal information expresses a motion element that corresponds to a specific physical action. The spatial modal information can mathematically be defined by the Fourier coefficients. Then, this paper proposes the total harmonic distortion (THD) and the content rate of the haptic modal information as motion evaluation indexes. THD of the spatial modal information can evaluate the complexity of the human motion and/or the deformability of the contact environment. Content rate of the spatial modal information can evaluate the priority of motion element. Some experimental results on the bilateral motion control of a parallel five DOF haptic system are shown, in order to confirm the utility of the proposed indexes. Key words: Discrete fourier series expansion, Haptics, Modal decomposition, Motion controlUkupno harmoničko izobličenje i brzina prostorne modalne informacije za analizu haptičkog paralelnog gibanja. U ovom radu predložena su dva indikatora vrednovanja haptičkog gibanja u paralelnom sustavu s više stupnjeva slobode. Prikazana je metoda prostorne modalne dekompozicije zasnovana na proširenom diskretnom Fourierovom redu. Prostorna modalna informacija predstavlja element koji odgovara specifičnoj fizikalnoj radnji. Prostorna modalna informacija matematički se može opisati koristeći Fourierove koeficijente. U ovom se radu kao indikatori za evaluaciju gibanja predlažu ukupno harmoničko izobličenje i brzina haptičke modalne informacije. Ukupnim harmoničkim izobličenjem prostorne modalne informacije može se ocijeniti kompleksnost ljudskog gibanja i/ili deformabilnost kontaktne okoline. Przina prostorne modalne informacije ocjenjuje prioritet elementa u gibanju. Kako bi se potvrdila korisnost predloženih indikatora vrednovanja prikazani su eksperimentalni rezultati dobiveni dvoosnim prostornim upravljanjem paralelnim haptičkim sustavom s pet stupnjeva slobode.Ključne riječi: proširenje diskretnog Fourierovog reda, haptika, modalna dekompozicija, upravljanje gibanjem INTRODUCTIONThe analysis of the dexterity and the flexibility in human physicality is significant for the design and the development of intelligent human support systems. The advanced computer vision technology can realize the human motion capture [1] and the vision-based motion analysis [2]. The sensor and actuator technology can realize the human motion sensing [3] and the physical support based on biological information [4,5]. Biomechanical knowledge about human physicality can enhance the human-systeminteraction [6]. For the further comprehension of human physicality, it is expected that not only movement but also strength of force in human motion is analyzed by the engineering approach.Highly transparent bilateral system can realize not only the transmission of hapt...

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Section: Introductionmentioning

confidence: 99%

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

2013

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“…Bilateral control is a method of teleoperation control with haptic feedback and has been considerably developed to apply in robotics, medicine, space, nuclear power plant, mine cleaning and so on [1]- [5]. In a bilateral control system, human operator is in contact with the master device and the slave device is in contact with the environment.…”

Section: Introductionmentioning

confidence: 99%

Force sensation improvement in bilateral control of different master-slave mechanism based on high-order disturbance observer

Phuong

Nandayapa

Mitsantisuk

et al. 2012

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

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In this work, we present a bilateral control system with different mechanisms of master and slave sides. A linear shaft motor and a ball screw perform the roles of the master and slave, respectively. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signal is inserted into the control signal of the slave side. The addition of periodic signal causes oscillatory force responses on both master and slave sides. Therefore, a high-order disturbance observer is designed for force sensing operation on the slave side to reduce the effect of oscillatory disturbance on force information. The control algorithm consists of a conventional disturbance observer and a high-order disturbance observer for master and slave sides, respectively. The numerical simulation results verify the effectiveness of the proposed method.I.

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“…For example, there are robots for space, for atomic power plant, for micro-manipulation, etc [1]. Developing performance of the teleoperated robots, it will be possible for human to work in such a ultimate environment with safety.…”

Section: Introductionmentioning

confidence: 99%

Compensation of Integrated Resonant and Time Delay System by Using Wave Compensator

Saito

Katsura

2013

Automatika

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Original scientific paperRecently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, a flexible mechanism caused by the mechanical constraint such as weight saving of robot, using gear, and so on, induces vibration. Moreover, a communication delay causes vibration, too. In addition, in the worst case, the delay makes the control system unstable. Therefore, in this paper, for suppressing the vibration, compensation of integrated resonant and time-delay systems by using a wave compensator is proposed. In the proposal, there are two important control structures. Firstly, a reflected wave in the resonant system is eliminated by a reflected wave rejection. A transfer function of wave equation without the reflected wave is represented as a time delay. Therefore, a resonant system without a reflected wave can be regarded as an equivalent time-delay system. Next, it is defined that an effect of time delay from resonant and communication systems is caused by a time-delay disturbance. Then, vibrations from resonant and communication delays are simultaneously suppressed by the wave compensator. Finally, the validity of the proposal is verified by simulation and experimental results. Key words: Reflected wave rejection, Vibration control, Time delay, Wave equation, Wave compensatorKompenzacija sustava s rezonancijom i vremenskim kašnjenjem pomoću valnog kompenzatora. U posljednje vrijeme daljinski upravljani roboti za rad u izazovnim okruženjima dobivaju na važnosti. Poboljšanje sposobnosti daljinski upravljanih robota neosporno bi omogućilo bi sigurniji rad u takvim okruženjima.Ipak, realne robotske konstrukciječesto podrazumijevaju fleksibilne prijenosne mehanizme, zupčanike i druge elemente koji unose nepoželjne vibracije u sustav. Fenomen vibracije dodatno je naglašen i vremenskim kašnjenjem u komunikaciji s robotom što može u konačnici uzrokovati nestabilno ponašanje. U ovom se radu predlaže mehanizam sprječavanja vibracija temeljen na kompenzatoru valova. Mehanizam se sastoji od dvije cjeline. Prvi korak je eliminacija reflektiranog vala. Drugo, prijenosna funkcija valne jednadžbe bez reflektirano vala tretira se kao vremensko kašnjenje. Stoga se rezonantni sustav može promatrati može promatrati kao ekvivalentni sustav s vremenskim kašn-jenjem. Nadalje, utjecaj se vremenskog kašnjenja modelira kao poremećaj s vremenskom odgodom. U konačnici se vibracije rezonantnog i komunikacijskog kašnjenja potiskuju kompenzatorom valova. Predloženi je algoritam ispitan u simulacijama kao i na stvarnome sustavu.Ključne riječi: odbacivanje odbijenog vala, vremensko kašnjenje, kontrola vibracija, valna jednadžba, valni kompenzator

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Task Based Bilateral Control for Microsystems Application

Cited by 5 publications

References 19 publications

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

Force sensation improvement in bilateral control of different master-slave mechanism based on high-order disturbance observer

Compensation of Integrated Resonant and Time Delay System by Using Wave Compensator

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