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This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral...
This paper proposes an evaluation index for the analysis of the motion complexity in parallel multi-degrees-of-freedom (MDOF) haptic system. Firstly, the modal decomposition based on discrete Fourier series expansion (DFS) is described. Modal information expresses a motion element that corresponds to a specific physical action. The modal information can be defined by the Fourier coefficients. This...
This paper describes transparency and system connection for future heterogeneous haptic network systems, e.g. bilateral teleoperation systems which include communication networks with different capacities and haptic devices with different degrees of freedom (DOF). This paper also proposes a controller design method of bilateral control systems in the heterogeneous environment. A one-dimensional master-slave...
A bilateral control robot is one of the master-slave teleoperation robots. Consider two robots, a master robot is manipulated by human operators and a slave robot contacts remote environment. Decoupling of a force control and a position control in bilateral control is realized using the mode transformation i.e. a force controller in the common mode and a position controller in the differential mode...
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