An approach to bilateral control system for improvement of operationality

Hiroyuki Tanaka; Kouhei Ohnishi

doi:10.1541/ieejias.127.851

An approach to bilateral control system for improvement of operationality

Hiroyuki Tanaka, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

Many types of bilateral control architectures to transmit force sensation have been proposed. Some control methods obtain good performance. Operationality is not satisfactory, however, when these methods are implemented in bilateral systems with large inertia and friction force. In this paper, a novel bilateral control method is proposed to improve operationality of bilateral systems with large inertia and friction force. The proposed method is compared with a conventional method, and the effectiveness of the proposed method is demonstrated by coordinate transformation and experiments.

Original language	English
Pages (from-to)	851-857+10
Journal	ieej transactions on industry applications
Volume	127
Issue number	8
DOIs	https://doi.org/10.1541/ieejias.127.851
Publication status	Published - 2007
Externally published	Yes

Keywords

Bilateral control
Haptics
Master-slave system
Operationality

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.127.851

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abstract = "Many types of bilateral control architectures to transmit force sensation have been proposed. Some control methods obtain good performance. Operationality is not satisfactory, however, when these methods are implemented in bilateral systems with large inertia and friction force. In this paper, a novel bilateral control method is proposed to improve operationality of bilateral systems with large inertia and friction force. The proposed method is compared with a conventional method, and the effectiveness of the proposed method is demonstrated by coordinate transformation and experiments.",

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author = "Hiroyuki Tanaka and Kouhei Ohnishi",

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AU - Tanaka, Hiroyuki

AU - Ohnishi, Kouhei

PY - 2007

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AB - Many types of bilateral control architectures to transmit force sensation have been proposed. Some control methods obtain good performance. Operationality is not satisfactory, however, when these methods are implemented in bilateral systems with large inertia and friction force. In this paper, a novel bilateral control method is proposed to improve operationality of bilateral systems with large inertia and friction force. The proposed method is compared with a conventional method, and the effectiveness of the proposed method is demonstrated by coordinate transformation and experiments.

KW - Bilateral control

KW - Haptics

KW - Master-slave system

KW - Operationality

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IS - 8

ER -

An approach to bilateral control system for improvement of operationality

Abstract

Keywords

ASJC Scopus subject areas

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