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 publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

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

Fingerprint

Scaling
Controllers
Force control
Feedback
Control systems
Decoupling Control
Controller
Disturbance Observer
Force Feedback
Dynamic Behavior
Control System
Motion
Experimental Results
Operator
Simulation

ASJC Scopus subject areas

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

Cite this

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

A novel dimensional scaling bilateral control for realization of mobile-hapto. / Yajima, Shunsuke; Yamanouchi, Wataru; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. 2012. 6197059.

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

Yajima, S, Yamanouchi, W & Katsura, S 2012, A novel dimensional scaling bilateral control for realization of mobile-hapto. in International Workshop on Advanced Motion Control, AMC., 6197059, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197059
Yajima S, Yamanouchi W, Katsura S. A novel dimensional scaling bilateral control for realization of mobile-hapto. In International Workshop on Advanced Motion Control, AMC. 2012. 6197059 https://doi.org/10.1109/AMC.2012.6197059
Yajima, Shunsuke ; Yamanouchi, Wataru ; Katsura, Seiichiro. / A novel dimensional scaling bilateral control for realization of mobile-hapto. International Workshop on Advanced Motion Control, AMC. 2012.
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