A controller design method of bilateral control system

Toshiaki Tsuji, Kenji Natori, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticle

25 Citations (Scopus)

Abstract

Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control system. The idea is to design the bilateral control system based on a "function", a minimum component of a system role. It enables simple and explicit design for various tasks. The features of the proposed method provide a way to design an adjustable system. Experimental results show the validity of the proposed method.

Original languageEnglish
Pages (from-to)22-27
Number of pages6
JournalEPE Journal (European Power Electronics and Drives Journal)
Volume16
Issue number2
DOIs
Publication statusPublished - 2006

Keywords

  • Bilateral control
  • Disturbance observer
  • Force control
  • Teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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