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

Takahiro Mizoguchi, Hiroaki Kuwahara, Kouhei Ohnishi

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)304-310+11
Journalieej transactions on industry applications
Volume131
Issue number3
DOIs
Publication statusPublished - 2011 Sep 8

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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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