Analysis, modeling, and compensation of friction for scaled bilateral control

Yosuke Mizutani, Seiichiro Katsura

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

Original languageEnglish
Pages (from-to)344-349
Number of pages6
JournalIEEJ Journal of Industry Applications
Volume3
Issue number4
DOIs
Publication statusPublished - 2014

Fingerprint

Health care
Macros
Friction
Control systems
Robots
Compensation and Redress

Keywords

  • Coulomb friction
  • Macro-micro bilateral control system
  • Scaling
  • Viscous friction

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Analysis, modeling, and compensation of friction for scaled bilateral control. / Mizutani, Yosuke; Katsura, Seiichiro.

In: IEEJ Journal of Industry Applications, Vol. 3, No. 4, 2014, p. 344-349.

Research output: Contribution to journalArticle

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