A novel dimensional scaling bilateral control for realization of mobile-hapto

Shunsuke Yajima, Wataru Yamanouchi, Seiichiro Katsura

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

Abstract

This paper proposes a novel dimensional scaling bilateral control for mobile-hapto. The dimensional scaling bilateral control realizes force feedback between the master and the slave with different motion areas. By this system, an operator can manipulate velocity of the slave, and feel reaction force at the slave. For realizing this system, force and position responses of the master and the slave are transformed to a modal space. And force and position controllers are constructed in the modal space. In the conventional method, however, a precise bilateral controller is not achieved because the dynamics in the modal space is not considered. Therefore, in this paper, the dynamic behaviors in the modal space is described, and a decoupling control system with the disturbance observer in the modal space is realized by the proposed method. Finally, the validity of the proposal is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Yajima, S., Yamanouchi, W., & Katsura, S. (2012). A novel dimensional scaling bilateral control for realization of mobile-hapto. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197059] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197059