Izvorni znanstveni članak
Bilateral Motion Control for Abstraction and Reproduction of Real World Force Sensation
Tomoyuki Shimono
Seiichiro Katsura
Kouhei Ohnishi
Sažetak
In recent years, skill preservation of an expert and skill education for young technical workers have been serious issues in medical and production fields. The best way which young technical workers learn the ripe skill is that an expert teaches them. However, unfortunately, experts have lessened in these years. So, if digital skill preservation like a haptic database is attained, it may become an innovative solution of the above problem. Thus, as the fundamental technology for development of the haptic database, this paper proposes abstraction and reproduction methods on bilateral control of real world force sensation, and reconstruction of real world environment as well. In the abstraction mode, a master-slave system is composed, and the action-reaction law is attained through bilateral control. Later, based on acceleration information, the force, position and velocity of both master and slave systems are estimated and obtained. In the reconstruction mode, an environmental model is reconstructed based on the obtained data from real-world. Next, by using reproduction mode on master side, the operator would feel the force sensation from the obtained environmental model. Here, the proposed system is able to store the bilateral real-world force sensation to a sensation database. Finally, the experimental results show the validity of the proposed method.
Ključne riječi
bilateral motion control; haptic interface; haptic database; real world force sensation
Hrčak ID:
6836
URI
Datum izdavanja:
21.12.2005.
Posjeta: 1.187 *