Title :
Articulated multilateral control for adaptation to variation of system connection
Author :
Ishii, Takumi ; Katsura, Seiichiro
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
Recently, haptic broadcasting technology is researched, and the practical realization of haptic broadcasting is desired. The articulated multilateral control system constructs the haptic broadcasting network and achieves haptic transmission among several systems. This bilateral system is the minimum unit system of haptic transmission system. In the articulated multilateral control system, it is possible to separate and add of the systems freely without changing the control architecture. In order to achieve the haptic broadcasting, it is necessary to control many haptic devices. In addition, it is necessary that it is necessary to adapt to the variation of system connection. In this paper, articulated multilateral control system is proposed. Articulated multilateral control system constructs haptic transmission system among several systems by connection of the independent unit systems. Therefore articulated multilateral control is able to separate the systems without changing the control architecture. The experimental results show the availability of the proposed method.
Keywords :
adaptive control; haptic interfaces; matrix algebra; multimedia computing; articulated multilateral control; bilateral system; haptic broadcasting network; haptic transmission; minimum unit system; system connection; Acceleration; Broadcasting; Control systems; Force; Haptic interfaces; Joining processes; Multimedia communication; Bilateral Control; Disturbance Observer; Haptic Transmission; Multilateral Control; Real-World Haptics; System Connection;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8