Transmission of force sensation by micro-macro bilateral control with respect to standardized modal space

Tomoyuki Shimono, Seiichiro Katsura, Shigeru Susa, Takayoshi Takei, Kouhei Ohnishi

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

22 Citations (Scopus)

Abstract

This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode space respectively. In the modal space, common mode and differential mode are orthogonal. Thus, force control and position control are able to be realized simultaneously. Additionally, the standardization matrix that harmonizes the standard of macro master system with the standard of micro slave system in the modal space is proposed as well. With the proposed method, the transmission of force sensation from the real micro environment is achieved. To verify the validity of the proposed method, experimental results are shown.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs
Publication statusPublished - 2007 Dec 1
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other4th IEEE International Conference on Mechatronics, ICM 2007
CountryJapan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Shimono, T., Katsura, S., Susa, S., Takei, T., & Ohnishi, K. (2007). Transmission of force sensation by micro-macro bilateral control with respect to standardized modal space. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007 [4280061] (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007). https://doi.org/10.1109/ICMECH.2007.4280061