Two-step scaling micro-macro bilateral control using double master slave system

Sho Iwata, Yoshitomo Matsumi, Kouhei Ohnishi

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

Abstract

Many studies on bilateral control based on 4ch bilateral controller have been carried out hitherto. Micro-macro bilateral control is an application of this method for micro manipulations. Micro-macro bilateral control enables magnifying and demagnifying the force information using scaling gains. However, in the case of a single system as a conventional method, there is a limit of scaling because of instability. This paper analyzes the stability of conventional method considering scaling gain by using root locus analysis. Furthermore, it proposes a two-step scaling micro-macro bilateral control using double master slave system as a new solution. For the new system, two master slave systems are used and connected to each other. A stable whole system is realized by connecting two stable systems with suitable scaling gain. Thus, the proposed method enables a higher scaling micro-macro bilateral control with multiplication of two scalings. Simulations and experimental results are given to show the validity of the proposed method. Comparison with conventional method is achieved by using stability analysis and experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages4300-4305
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

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Keywords

  • Motion control
  • disturbance observer
  • haptics
  • master slave system
  • micro-macro bilateral control
  • scaling

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Iwata, S., Matsumi, Y., & Ohnishi, K. (2013). Two-step scaling micro-macro bilateral control using double master slave system. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 4300-4305). [6699826] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699826