Macro-micro bilateral control system without position limitation

Yosuke Mizutani, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

Recently, robots for micro manipulation are desired in the medical care field. In that case, transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system, position and force of slave motor are enlarged. Therefore, slave motor position is limited by scaling gain. Due to this limitation, if scaling gain is high, slave may not be able to touch the environment. On the other hand, dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system, slave velocity tracks the master position. In this paper, in order to avoid the position limitation of slave motor, the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages693-698
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Macros
Control System
Control systems
Scaling
Micromanipulation
Haptics
Health care
Robot
Robots

ASJC Scopus subject areas

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

Cite this

Mizutani, Y., & Katsura, S. (2014). Macro-micro bilateral control system without position limitation. In International Workshop on Advanced Motion Control, AMC (pp. 693-698). [6823365] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823365

Macro-micro bilateral control system without position limitation. / Mizutani, Yosuke; Katsura, Seiichiro.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 693-698 6823365.

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

Mizutani, Y & Katsura, S 2014, Macro-micro bilateral control system without position limitation. in International Workshop on Advanced Motion Control, AMC., 6823365, Institute of Electrical and Electronics Engineers Inc., pp. 693-698, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823365
Mizutani Y, Katsura S. Macro-micro bilateral control system without position limitation. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 693-698. 6823365 https://doi.org/10.1109/AMC.2014.6823365
Mizutani, Yosuke ; Katsura, Seiichiro. / Macro-micro bilateral control system without position limitation. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 693-698
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