A method for improving scaling bilateral control by integration of physical and control scaling ratio

Kenji Ogawa, Ryohei Kozuki, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ516-521
ページ数6
ISBN(電子版)9781479936335
DOI
出版ステータスPublished - 2015 4 9
外部発表はい
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

出版物シリーズ

名前Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
国/地域Japan
CityNagoya
Period15/3/615/3/8

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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