Design of bilateral control based on equivalent circuit model

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

1 Citation (Scopus)

Abstract

Haptic teleoperation has been studied as an attractive technology for a long time. Although the haptic teleoperation has been already realized by conventional methods, their physical meanings are remained vague and unclear. This paper explains bilateral control for the haptic teleoperation using an equivalent circuit model. Owing to the circuit model, which takes into account characteristics of electrical actuators, a control strategy and its physical meanings are clearly illustrated. Torque (force) control and position (velocity) control for the haptic teleoperation can be designed independently because of mode decomposition. Feedback controller design for each control is based on analyses of sensitivity derived from the equivalent circuit. The control strategy derived from the equivalent circuit have been confirmed by experiments and resulted in the haptic teleoperation.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1351-1356
Number of pages6
ISBN (Electronic)9781538663769
DOIs
Publication statusPublished - 2019 Feb 1
Event2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
Duration: 2019 Feb 132019 Feb 15

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

Keywords

  • Bilateral control
  • Haptics
  • Master-slave
  • Motion transmission
  • Teleoperation

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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