A controller design method of bilateral control system

Toshiaki Tsuji, Kenji Natori, Hiroaki Nishi, Kouhei Ohnishi

研究成果: Article査読

25 被引用数 (Scopus)

抄録

Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control system. The idea is to design the bilateral control system based on a "function", a minimum component of a system role. It enables simple and explicit design for various tasks. The features of the proposed method provide a way to design an adjustable system. Experimental results show the validity of the proposed method.

本文言語English
ページ(範囲)22-27
ページ数6
ジャーナルEPE Journal (European Power Electronics and Drives Journal)
16
2
DOI
出版ステータスPublished - 2006

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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