Three-channel micro-macro bilateral control system with scaling of control gains

Shigeru Susa, Kenji Natori, Kouhei Ohnishi

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

8 Citations (Scopus)

Abstract

Bilateral control robots are one of the masterslave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a threechannel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted only from master system to slave system. Moreover, there are micro-macro bilateral control systems that are one of the applications of bilateral control system. The micro-macro bilateral control system consists of master and slave system, the sizes of that systems are different. Therefore the system contains scaling factors of information. This paper proposes a three-channel micro-macro bilateral control system with scaling of control gains. The proposed method is designed based on reproducibility and operationality that are one of evaluation indices of bilateral control systems. The validity of the proposed method is confirmed by analysis and experiment.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages2598-2603
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: 2008 Nov 102008 Nov 13

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period08/11/1008/11/13

Fingerprint

Gain control
Macros
Control systems
Robots
Remote control
Communication

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Susa, S., Natori, K., & Ohnishi, K. (2008). Three-channel micro-macro bilateral control system with scaling of control gains. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2598-2603). [4758366] https://doi.org/10.1109/IECON.2008.4758366

Three-channel micro-macro bilateral control system with scaling of control gains. / Susa, Shigeru; Natori, Kenji; Ohnishi, Kouhei.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2598-2603 4758366.

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

Susa, S, Natori, K & Ohnishi, K 2008, Three-channel micro-macro bilateral control system with scaling of control gains. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758366, pp. 2598-2603, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 08/11/10. https://doi.org/10.1109/IECON.2008.4758366
Susa S, Natori K, Ohnishi K. Three-channel micro-macro bilateral control system with scaling of control gains. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 2598-2603. 4758366 https://doi.org/10.1109/IECON.2008.4758366
Susa, Shigeru ; Natori, Kenji ; Ohnishi, Kouhei. / Three-channel micro-macro bilateral control system with scaling of control gains. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 2598-2603
@inproceedings{b7cc325acf854632997a7fd878c8f5bf,
title = "Three-channel micro-macro bilateral control system with scaling of control gains",
abstract = "Bilateral control robots are one of the masterslave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a threechannel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted only from master system to slave system. Moreover, there are micro-macro bilateral control systems that are one of the applications of bilateral control system. The micro-macro bilateral control system consists of master and slave system, the sizes of that systems are different. Therefore the system contains scaling factors of information. This paper proposes a three-channel micro-macro bilateral control system with scaling of control gains. The proposed method is designed based on reproducibility and operationality that are one of evaluation indices of bilateral control systems. The validity of the proposed method is confirmed by analysis and experiment.",
author = "Shigeru Susa and Kenji Natori and Kouhei Ohnishi",
year = "2008",
doi = "10.1109/IECON.2008.4758366",
language = "English",
isbn = "9781424417667",
pages = "2598--2603",
booktitle = "Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008",

}

TY - GEN

T1 - Three-channel micro-macro bilateral control system with scaling of control gains

AU - Susa, Shigeru

AU - Natori, Kenji

AU - Ohnishi, Kouhei

PY - 2008

Y1 - 2008

N2 - Bilateral control robots are one of the masterslave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a threechannel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted only from master system to slave system. Moreover, there are micro-macro bilateral control systems that are one of the applications of bilateral control system. The micro-macro bilateral control system consists of master and slave system, the sizes of that systems are different. Therefore the system contains scaling factors of information. This paper proposes a three-channel micro-macro bilateral control system with scaling of control gains. The proposed method is designed based on reproducibility and operationality that are one of evaluation indices of bilateral control systems. The validity of the proposed method is confirmed by analysis and experiment.

AB - Bilateral control robots are one of the masterslave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a threechannel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted only from master system to slave system. Moreover, there are micro-macro bilateral control systems that are one of the applications of bilateral control system. The micro-macro bilateral control system consists of master and slave system, the sizes of that systems are different. Therefore the system contains scaling factors of information. This paper proposes a three-channel micro-macro bilateral control system with scaling of control gains. The proposed method is designed based on reproducibility and operationality that are one of evaluation indices of bilateral control systems. The validity of the proposed method is confirmed by analysis and experiment.

UR - http://www.scopus.com/inward/record.url?scp=63149164232&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63149164232&partnerID=8YFLogxK

U2 - 10.1109/IECON.2008.4758366

DO - 10.1109/IECON.2008.4758366

M3 - Conference contribution

AN - SCOPUS:63149164232

SN - 9781424417667

SP - 2598

EP - 2603

BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008

ER -