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
PublisherIEEE Computer Society
Pages2465-2470
Number of pages6
ISBN (Print)9781424417667
DOIs
Publication statusPublished - 2008 Jan 1

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • 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] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758343