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 |
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Pages (from-to) | 304-310+11 |
Journal | ieej transactions on industry applications |
Volume | 131 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2011 |
Externally published | Yes |
Keywords
- Bilateral control
- Gyrator
- Haptics
- Hatic interface
- Motion control
- Transformer
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering