TY - GEN
T1 - Two-step scaling micro-macro bilateral control using double master slave system
AU - Iwata, Sho
AU - Matsumi, Yoshitomo
AU - Ohnishi, Kouhei
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
KW - Motion control
KW - disturbance observer
KW - haptics
KW - master slave system
KW - micro-macro bilateral control
KW - scaling
UR - http://www.scopus.com/inward/record.url?scp=84893568692&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893568692&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699826
DO - 10.1109/IECON.2013.6699826
M3 - Conference contribution
AN - SCOPUS:84893568692
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4300
EP - 4305
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -