Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates

• DOI: 10.1541/ieejjia.2.67
• Publication Date: 2012-12-31T22:35:11Z
• Authors: Takahiro Nozaki; Takahiro Mizoguchi; Yuki Saito; Tomohiro Nakano; Kouhei Ohnishi
• Keywords: Transformation matrix; Basis (linear algebra); Operator (biology); Cartesian coordinate robot

Conventional bilateral controllers have been designed on the basis of a tool coordinate system. However, from viewpoint versatility, transformation technique based physical features an operator is advantageous. Therefore, this paper proposes control that can be used to operate slave robots; motion and facilitates intuitive operation. Here, imply displacement ratios joints. A matrix containing obtained by principal component analyses. The abstract features, while other matrices require symmetric or sensor placement. validity proposed method experimentally verified. In experiment, applied wearable robot hand forceps robot. grasping extracted transmitted matrix.