An analysis of a novel master-slave control and its application to MDOF motion systems

Ryosuke Horie, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

This paper describes a master-slave control by force feedback based virtual impedance controller. In proposed method, human operator can design "Operationality" arbitrarily by changing the impedance model. This is one of the remarkable points. And more, motion commands of master and slave are generated by the minimum feedback information in proposed method. To verify the validity of proposed method, the performance of the controller is analyzed and evaluated by using "Reproducibility" and "Operationality". Furthermore, proposed controller and 4ch bilateral controller are compared experimentally and the validation is conducted with 1-DOF and 2-DOF manipulator.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages474-479
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

Keywords

  • Force feedback
  • MDOF motion systems
  • Master-slave system
  • Operationality
  • Reproducibility
  • Virtual impedance control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Horie, R., & Murakami, T. (2011). An analysis of a novel master-slave control and its application to MDOF motion systems. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 474-479). [6119357] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119357