Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

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

6 Citations (Scopus)

Abstract

FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode space and operational mode space. Furthermore, multirate sampling method is introduced to consider hardware limitation. Some experimental results are shown in order to verify the validity of the implementation.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages2465-2470
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Acceleration control
Field programmable gate arrays (FPGA)
Control systems
Robots
Sampling
Hardware
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tanaka, H., Ohnishi, K., & Nishi, H. (2008). Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2465-2470). [4758343] https://doi.org/10.1109/IECON.2008.4758343

Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA. / Tanaka, Hiroyuki; Ohnishi, Kouhei; Nishi, Hiroaki.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2465-2470 4758343.

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

Tanaka, H, Ohnishi, K & Nishi, H 2008, Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758343, pp. 2465-2470, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758343
Tanaka H, Ohnishi K, Nishi H. Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2465-2470. 4758343 https://doi.org/10.1109/IECON.2008.4758343
Tanaka, Hiroyuki ; Ohnishi, Kouhei ; Nishi, Hiroaki. / Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 2465-2470
@inproceedings{6313d74d76ef4df990d0b6d0338763e7,
title = "Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA",
abstract = "FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode space and operational mode space. Furthermore, multirate sampling method is introduced to consider hardware limitation. Some experimental results are shown in order to verify the validity of the implementation.",
author = "Hiroyuki Tanaka and Kouhei Ohnishi and Hiroaki Nishi",
year = "2008",
doi = "10.1109/IECON.2008.4758343",
language = "English",
isbn = "9781424417667",
pages = "2465--2470",
booktitle = "Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008",

}

TY - GEN

T1 - Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA

AU - Tanaka, Hiroyuki

AU - Ohnishi, Kouhei

AU - Nishi, Hiroaki

PY - 2008

Y1 - 2008

N2 - FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode space and operational mode space. Furthermore, multirate sampling method is introduced to consider hardware limitation. Some experimental results are shown in order to verify the validity of the implementation.

AB - FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode space and operational mode space. Furthermore, multirate sampling method is introduced to consider hardware limitation. Some experimental results are shown in order to verify the validity of the implementation.

UR - http://www.scopus.com/inward/record.url?scp=63149141351&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63149141351&partnerID=8YFLogxK

U2 - 10.1109/IECON.2008.4758343

DO - 10.1109/IECON.2008.4758343

M3 - Conference contribution

SN - 9781424417667

SP - 2465

EP - 2470

BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008

ER -