Variable scaling bilateral control based on environmental impedance estimation

Daisuke Tomizuka, Kensuke Oda, Shuhei Shimizu, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Micro-manipulation is quite required because this makes it easier to do delicate work. This technique can be applied in various departments. However, it is difficult for operator to manipulate by their hands because objects are too small and fragile. Moreover, operators can obtain only visual information at present, and cannot recognize how much force applied to objects. In order to solve these problems, haptic information is essential. Scaling bilateral control is an effective method to amplify force feedback. However, friction makes control system unstable even if force scaling gain is too high. Force scaling gain should be high only when slave robot contacts environment. This paper proposes a method of variable scaling bilateral control based on environmental impedance estimation. Proposed method enables to judge the state of contact with environment and to raise force scaling gain automatically during contact motion. Finally, the effect of proposed method is verified through the simulation and experiment.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1051-1056
Number of pages6
Volume2016-May
ISBN (Electronic)9781467380751
DOIs
Publication statusPublished - 2016 May 19
EventIEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan, Province of China
Duration: 2016 Mar 142016 Mar 17

Other

OtherIEEE International Conference on Industrial Technology, ICIT 2016
CountryTaiwan, Province of China
CityTaipei
Period16/3/1416/3/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

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    Tomizuka, D., Oda, K., Shimizu, S., & Ohnishi, K. (2016). Variable scaling bilateral control based on environmental impedance estimation. In Proceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016 (Vol. 2016-May, pp. 1051-1056). [7474899] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2016.7474899