Realization of "Law of Action and Reaction"

摘要

In recent years, the realization of a haptic system has been strongly desired in the fields of medical treatment and ex- pert's skill acquisition. The key point of haptics is to realize a vivid presentation of reactive force, particularly in applications that in- volve touching action. In this paper, a realization of the law of action and reaction by multilateral control is introduced. First, an analysis and a design of bilateral control based on the distur- bance observer are discussed. A disturbance observer is a basic technology for quarrying of disturbance torque and attainment of robust acceleration control. This paper shows that a four-channel controller which is composed of position control and force con- trol in the acceleration dimension is decomposed into two modes: common and differential modes. A design of bilateral control is treated as position and force control in a single joint. The proposed method generates a good realization of reactive force for the slave side at the master side in bilateral force control. Second, bilateral control is extended and multilateral control is generalized. Multi- lateral control is designed similarly as bilateral control based on the modal decomposition. Robots with a haptic ability will have an important role in human adaptive mechatronics.