A design method of force dependent velocity bilateral control based on gyrator property

Takahiro Mizoguchi; Hiroaki Kuwahara; Kouhei Ohnishi

doi:10.1541/ieejias.131.304

A design method of force dependent velocity bilateral control based on gyrator property

Takahiro Mizoguchi, Hiroaki Kuwahara, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article

3 Citations (Scopus)

Abstract

This paper proposes a bilateral control method for a teleoperation system with different sizes and work volumes. In the proposed controller, transformer-type bilateral control and gyrator-type bilateral control are integrated. The proposed control method can be used for the control of the motion of a slave robot; this involves intuitive manipulation of the master robot despite the structural difference between the master and slave.

Original language	English
Pages (from-to)	304-310+11
Journal	ieej transactions on industry applications
Volume	131
Issue number	3
DOIs	https://doi.org/10.1541/ieejias.131.304
Publication status	Published - 2011 Sep 8

Fingerprint

Keywords

Bilateral control
Gyrator
Haptics
Hatic interface
Motion control
Transformer

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Cite this

Mizoguchi, T., Kuwahara, H., & Ohnishi, K. (2011). A design method of force dependent velocity bilateral control based on gyrator property. ieej transactions on industry applications, 131(3), 304-310+11. https://doi.org/10.1541/ieejias.131.304

@article{88175e1deb6b4a9fbfb1486ac7d3dcc5,

title = "A design method of force dependent velocity bilateral control based on gyrator property",

abstract = "This paper proposes a bilateral control method for a teleoperation system with different sizes and work volumes. In the proposed controller, transformer-type bilateral control and gyrator-type bilateral control are integrated. The proposed control method can be used for the control of the motion of a slave robot; this involves intuitive manipulation of the master robot despite the structural difference between the master and slave.",

keywords = "Bilateral control, Gyrator, Haptics, Hatic interface, Motion control, Transformer",

author = "Takahiro Mizoguchi and Hiroaki Kuwahara and Kouhei Ohnishi",

year = "2011",

month = sep

day = "8",

doi = "10.1541/ieejias.131.304",

language = "English",

volume = "131",

pages = "304--310+11",

journal = "IEEJ Transactions on Industry Applications",

issn = "0913-6339",

publisher = "The Institute of Electrical Engineers of Japan",

number = "3",

}

TY - JOUR

T1 - A design method of force dependent velocity bilateral control based on gyrator property

AU - Mizoguchi, Takahiro

AU - Kuwahara, Hiroaki

AU - Ohnishi, Kouhei

PY - 2011/9/8

Y1 - 2011/9/8

N2 - This paper proposes a bilateral control method for a teleoperation system with different sizes and work volumes. In the proposed controller, transformer-type bilateral control and gyrator-type bilateral control are integrated. The proposed control method can be used for the control of the motion of a slave robot; this involves intuitive manipulation of the master robot despite the structural difference between the master and slave.

AB - This paper proposes a bilateral control method for a teleoperation system with different sizes and work volumes. In the proposed controller, transformer-type bilateral control and gyrator-type bilateral control are integrated. The proposed control method can be used for the control of the motion of a slave robot; this involves intuitive manipulation of the master robot despite the structural difference between the master and slave.

KW - Bilateral control

KW - Gyrator

KW - Haptics

KW - Hatic interface

KW - Motion control

KW - Transformer

UR - http://www.scopus.com/inward/record.url?scp=80052379067&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80052379067&partnerID=8YFLogxK

U2 - 10.1541/ieejias.131.304

DO - 10.1541/ieejias.131.304

M3 - Article

AN - SCOPUS:80052379067

VL - 131

SP - 304-310+11

JO - IEEJ Transactions on Industry Applications

JF - IEEJ Transactions on Industry Applications

SN - 0913-6339

IS - 3

ER -

Access to Document

10.1541/ieejias.131.304