TY - GEN
T1 - Transmission of force sensation by micro-macro bilateral control with scaling of control gains
AU - Susa, Shigeru
AU - Shimono, Tomoyuki
AU - Takei, Takayoshi
AU - Atsuta, Kouji
AU - Shimojima, Naoki
AU - Ozawa, Soji
AU - Morikawa, Yasuhide
AU - Ohnishi, Kouhei
PY - 2008
Y1 - 2008
N2 - A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micromacro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and ideal operationality of micro-macro bilateral control system. By deriving the control system to satisfy the ideal reproducibility, scaling factors of control gains are obtained. In this paper, the frequency analysis results of hybrid parameters are shown to verify the validity of the proposed method. And the proposed method is applied to the experimental micro-macro bilateral system and the results of the experimentation with real biological environments is shown. Moreover, the impedances of the contacted objects are estimated and compared.
AB - A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micromacro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and ideal operationality of micro-macro bilateral control system. By deriving the control system to satisfy the ideal reproducibility, scaling factors of control gains are obtained. In this paper, the frequency analysis results of hybrid parameters are shown to verify the validity of the proposed method. And the proposed method is applied to the experimental micro-macro bilateral system and the results of the experimentation with real biological environments is shown. Moreover, the impedances of the contacted objects are estimated and compared.
UR - http://www.scopus.com/inward/record.url?scp=62549144570&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2008.4516123
DO - 10.1109/AMC.2008.4516123
M3 - Conference contribution
AN - SCOPUS:62549144570
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 532
EP - 537
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -