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
JournalIEEJ Transactions on Industry Applications
Volume131
Issue number3
DOIs
Publication statusPublished - 2011

Fingerprint

Gyrators
Velocity control
Robots
Integrated control
Remote control
Controllers

Keywords

  • Bilateral control
  • Gyrator
  • Haptics
  • Hatic interface
  • Motion control
  • Transformer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

A design method of force dependent velocity bilateral control based on gyrator property. / Mizoguchi, Takahiro; Kuwahara, Hiroaki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 131, No. 3, 2011.

Research output: Contribution to journalArticle

Mizoguchi, Takahiro ; Kuwahara, Hiroaki ; Ohnishi, Kouhei. / A design method of force dependent velocity bilateral control based on gyrator property. In: IEEJ Transactions on Industry Applications. 2011 ; Vol. 131, No. 3.
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