Transmission of real world force sensation by micro/macro bilateral control based on acceleration control with standardization matrix

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

Research output: Contribution to journalArticlepeer-review

37 Citations (Scopus)

Abstract

This paper proposes novel micro/macro bilateral control based on acceleration control with standardization matrix. In bilateral control, force control and position control should be realized simultaneously. However, they are not able to be realized in one real axis at the same time. Thus, force control and position control are realized in virtual mode space in this paper. Then, the proposed standardization matrix is able to harmonize the standard of macro master system with the standard of micro slave system in the virtual mode space. With the proposed method, the transmission of force sensation from the real micro environment is realized. The experimental results are shown to verify the viability of the proposed method.

Original languageEnglish
Pages (from-to)726-732+6
Journalieej transactions on industry applications
Volume128
Issue number6
DOIs
Publication statusPublished - 2008 Dec 1

Keywords

  • Acceleration control
  • Disturbance observer
  • Force sensation
  • Haptics
  • Micro/macro bilateral control
  • Motion control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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