Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems

Hideaki Tai, Toshiyuki Murakami

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

4 Citations (Scopus)

Abstract

In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in masterslave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages343-348
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

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Keywords

  • Bilateral control
  • Decoupled controller
  • Disturbance force observer
  • Disturbance torque observer
  • Equivalent mass matrix
  • Multi-degrees-of-freedom system
  • Scaling

ASJC Scopus subject areas

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

Cite this

Tai, H., & Murakami, T. (2010). Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems. In International Workshop on Advanced Motion Control, AMC (pp. 343-348). [5464107] https://doi.org/10.1109/AMC.2010.5464107