Analysis of operational force under non-ideal condition for bilateral control

Kazuki Tanida, Kouhei Ohnishi

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

Abstract

Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal condition such as disturbance modeling error in Reaction Force Observer (RFOB), estimated force will be different from true value. In this condition, operational force is different from operationality. Therefore, in this paper, operational force in non-ideal condition is considered. From experimental bode diagram results, operational force in non-ideal condition was made performance of bilateral control degradation.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages308-313
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Bode diagrams
Robots
Control systems
Degradation
Reproducibility
Impedance
Modeling Error
Observer
Diagram
Disturbance
Robot
Control System

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tanida, K., & Ohnishi, K. (2014). Analysis of operational force under non-ideal condition for bilateral control. In International Workshop on Advanced Motion Control, AMC (pp. 308-313). [6823300] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823300

Analysis of operational force under non-ideal condition for bilateral control. / Tanida, Kazuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 308-313 6823300.

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

Tanida, K & Ohnishi, K 2014, Analysis of operational force under non-ideal condition for bilateral control. in International Workshop on Advanced Motion Control, AMC., 6823300, Institute of Electrical and Electronics Engineers Inc., pp. 308-313, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823300
Tanida K, Ohnishi K. Analysis of operational force under non-ideal condition for bilateral control. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 308-313. 6823300 https://doi.org/10.1109/AMC.2014.6823300
Tanida, Kazuki ; Ohnishi, Kouhei. / Analysis of operational force under non-ideal condition for bilateral control. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 308-313
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