Abstract
This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynamics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates.
| Original language | English |
|---|---|
| Pages | 96-101 |
| Number of pages | 6 |
| Publication status | Published - 2004 Dec 1 |
| Event | 2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia Duration: 2004 Dec 8 → 2004 Dec 10 |
Other
| Other | 2004 IEEE International Conference on Industrial Technology, ICIT |
|---|---|
| Country/Territory | Tunisia |
| City | Hammamet |
| Period | 04/12/8 → 04/12/10 |
Keywords
- Bilateral control
- Disturbance observer
- Force control
- Function-based control
- Scaling control
- Teleoperation
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering