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 publicationIECON Proceedings (Industrial Electronics Conference)
Pages474-479
Number of pages6
DOIs
Publication statusPublished - 2011
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Other

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

Fingerprint

Controllers
Feedback
Manipulators

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

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

An analysis of a novel master-slave control and its application to MDOF motion systems. / Horie, Ryosuke; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). 2011. p. 474-479 6119357.

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

Horie, R & Murakami, T 2011, An analysis of a novel master-slave control and its application to MDOF motion systems. in IECON Proceedings (Industrial Electronics Conference)., 6119357, pp. 474-479, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 11/11/7. https://doi.org/10.1109/IECON.2011.6119357
Horie R, Murakami T. An analysis of a novel master-slave control and its application to MDOF motion systems. In IECON Proceedings (Industrial Electronics Conference). 2011. p. 474-479. 6119357 https://doi.org/10.1109/IECON.2011.6119357
Horie, Ryosuke ; Murakami, Toshiyuki. / An analysis of a novel master-slave control and its application to MDOF motion systems. IECON Proceedings (Industrial Electronics Conference). 2011. pp. 474-479
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