Achievement of high scaling gain macro-micro bilateral control system

Yosuke Mizutani, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages4055-4060
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

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Keywords

  • Acceleration
  • Bidirectional Control
  • Control Design
  • Force Control
  • Motion Compensation
  • Motion Control
  • Observers
  • Position Control
  • Robot Control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mizutani, Y., & Katsura, S. (2013). Achievement of high scaling gain macro-micro bilateral control system. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 4055-4060). [6699785] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699785