Bilateral force feedback control with virtual constraint for operational assistance

Shutaro Yorozu, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, the study of real-world haptics is taken place actively. Haptics is scholarship about tactile sensation. Among them, the realization of high accuracy micro manipulation is demanded from many industrial fields such as medical treatment and manufacturing. In micro region, high accuracy positioning system and multi-degree of freedom system are needed for precise manipulation. However, operator must concentrate on operation of environment after approaching to position of environment when micromanipulation by multi-degree of freedom haptic system is considered. Conventional systems are not considered about the control system of the base of the manipulator after approaching to position of environment. Thus, the bilateral control using virtual compliance control is proposed in this paper. This is because the system is limited depending on the movement of the operator by implementing virtual compliance control. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1471-1476
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Yorozu, S., & Katsura, S. (2010). Bilateral force feedback control with virtual constraint for operational assistance. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 1471-1476). [5675465] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675465