Hybrid Control of Position and Force for Bilateral System

Yoshio Nishioka, Kouhei Ohnishi

Research output: Contribution to conferencePaper

11 Citations (Scopus)

Abstract

Remote control operation system has been used for an operation at dangerous area or as a medical robot system. Though it has an ability to reproduce an operator's motion at remote place, it cannot transfer the sensed force to the operator. Bilateral control is a method for remote control operation system to transmit the force sense. Although various bilateral control architectures have been studied, it is difficult to realize its ideal responses. One of the difficulties is the adaptation to the open environment with contact or noncontact motions. This paper proposes hybrid controller in the same direction, which can change the impedance with its selection ratios. In addition, an approach to acquire environmental information in the form of the selection ratios is described. The proposed bilateral system obtains an adaptation to the open environment and realizes ideal responses. The effectiveness of the proposed system is confirmed by experiments.

Original languageEnglish
Pages1349-1354
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CountryUnited States
CityRoanoke, VA
Period03/11/203/11/6

Keywords

  • Adaptation
  • Bilateral control
  • Hybrid control
  • Master slave manipulator
  • Remote control operation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Hybrid Control of Position and Force for Bilateral System'. Together they form a unique fingerprint.

  • Cite this

    Nishioka, Y., & Ohnishi, K. (2003). Hybrid Control of Position and Force for Bilateral System. 1349-1354. Paper presented at The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States. https://doi.org/10.1109/IECON.2003.1280253