A novel control index of bilateral control for master-slave system with different motion areas

Wataru Yamanouchi, Shunsuke Yajima, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel control index of the bilateral control for master-slave system with different motion areas is proposed. Most of applications of the bilateral control are composed of the master-slave system with same motion areas. For realizing master-slave system with different motion areas, micro-macro bilateral control and dimensional scaling bilateral control were proposed. In these methods, however, the conventional control index of the bilateral control "transparency" is not applied because of the different motion areas between the master and the slave. Therefore, the evaluation of these methods which consist on master-slave system with different motion areas have not been conducted. On the other hand, the proposed control index is based on the operational energy of the operator. By using the proposed control index, therefore, the superiority of the bilateral control is shown by the operational energy. In addition, this paper shows that the dimensional scaling bilateral control is superior to the micro-macro bilateral control from operational energetic point of view by the proposed control index. Finally, the validity of the proposal is verified by experimental results.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Pages1656-1661
Number of pages6
DOIs
Publication statusPublished - 2012
Event21st IEEE International Symposium on Industrial Electronics, ISIE 2012 - Hangzhou, China
Duration: 2012 May 282012 May 31

Other

Other21st IEEE International Symposium on Industrial Electronics, ISIE 2012
CountryChina
CityHangzhou
Period12/5/2812/5/31

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Yamanouchi, W., Yajima, S., & Katsura, S. (2012). A novel control index of bilateral control for master-slave system with different motion areas. In IEEE International Symposium on Industrial Electronics (pp. 1656-1661). [6237339] https://doi.org/10.1109/ISIE.2012.6237339

A novel control index of bilateral control for master-slave system with different motion areas. / Yamanouchi, Wataru; Yajima, Shunsuke; Katsura, Seiichiro.

IEEE International Symposium on Industrial Electronics. 2012. p. 1656-1661 6237339.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamanouchi, W, Yajima, S & Katsura, S 2012, A novel control index of bilateral control for master-slave system with different motion areas. in IEEE International Symposium on Industrial Electronics., 6237339, pp. 1656-1661, 21st IEEE International Symposium on Industrial Electronics, ISIE 2012, Hangzhou, China, 12/5/28. https://doi.org/10.1109/ISIE.2012.6237339
Yamanouchi W, Yajima S, Katsura S. A novel control index of bilateral control for master-slave system with different motion areas. In IEEE International Symposium on Industrial Electronics. 2012. p. 1656-1661. 6237339 https://doi.org/10.1109/ISIE.2012.6237339
Yamanouchi, Wataru ; Yajima, Shunsuke ; Katsura, Seiichiro. / A novel control index of bilateral control for master-slave system with different motion areas. IEEE International Symposium on Industrial Electronics. 2012. pp. 1656-1661
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