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 › peer-review

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

Keywords

Bilateral control
Gyrator
Haptics
Hatic interface
Motion control
Transformer

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.131.304

Cite this

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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.",

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AU - Ohnishi, Kouhei

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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.

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KW - Haptics

KW - Hatic interface

KW - Motion control

KW - Transformer

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

Abstract

Keywords

ASJC Scopus subject areas

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