Little friction structure for macro-micro bilateral control system

Yosuke Mizutani, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

In this paper, structure of master system and slave system for macro-micro bilateral system are proposed. In the macro-micro bilateral control system, disturbance force added to slave system is scaled. It is ideal that only environment reaction force of slave system is scaled. However, the disturbance force of slave system contains not only environment force but force of gravity and friction. Therefore, the gravity and friction are also scaled in the macro-micro bilateral control system. In this paper, linear motors are used to proposed master and slave system. Effect of gravity is very little in the linear motor, it can be neglected. Effect of friction can not be neglected, especially in the case of large scaling rate. Therefore, the friction of the proposed systems are rid by air flow. The proposed systems are given air flow under the linear motor and rid the friction. The availability of proposed method is confirmed by experiment.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages792-797
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: 2012 Dec 162012 Dec 18

Publication series

Name2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/12/1612/12/18

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ASJC Scopus subject areas

  • Information Systems

Cite this

Mizutani, Y., & Katsura, S. (2012). Little friction structure for macro-micro bilateral control system. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012 (pp. 792-797). [6426943] (2012 IEEE/SICE International Symposium on System Integration, SII 2012). https://doi.org/10.1109/SII.2012.6426943