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 publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages693-698
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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