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 publicationProceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012
Pages1656-1661
Number of pages6
DOIs
Publication statusPublished - 2012 Aug 15
Event21st IEEE International Symposium on Industrial Electronics, ISIE 2012 - Hangzhou, China
Duration: 2012 May 282012 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'A novel control index of bilateral control for master-slave system with different motion areas'. Together they form a unique fingerprint.

  • 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 Proceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012 (pp. 1656-1661). [6237339] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2012.6237339