Distinction of connection condition of system in bilateral control

Takeshi Okura, Seiichiro Katsura

Research output: Contribution to conferencePaper

Abstract

Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.

Original languageEnglish
Pages1859-1864
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Okura, T., & Katsura, S. (2009). Distinction of connection condition of system in bilateral control. 1859-1864. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5414830