Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 54th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : F165
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Host: Institute of Systems, Control and Information Engineers

Grasping Object by PID-type Teleoperation with Multiple Cooperative Robots
*Taichiro Kato, Toru Namerikawa
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Keywords: Teleoperation, Grasping Object, Single Master Multiple Slave System, Passive-Decomposition, PID Control
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Abstract
This paper deals with a control framework based on passive-decomposition of bilateral teleoperation which is constructed of a single master robot and multiple slave robots with constant time delay. At first, using passive-decomposition,we decompose the dynamics of multiple slave robots into two decoupled dynamics:the Shape-system describing dynamics of the cooperative works,and the Locked-system representing overall behavior of the multiple slave robots.Secondly, we propose a PID control for shape-system and a PID-type control for Locked-System and Master to guarantee the stability of them with constant time delay .
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© 2010 The Institute of Systems, Control and Information Engineers
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