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 | |
| 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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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