A novel control index of bilateral control for master-slave system with different motion areas

Wataru Yamanouchi, Shunsuke Yajima, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, a novel control index of the bilateral control for master-slave system with different motion areas is proposed. Most of applications of the bilateral control are composed of the master-slave system with same motion areas. For realizing master-slave system with different motion areas, micro-macro bilateral control and dimensional scaling bilateral control were proposed. In these methods, however, the conventional control index of the bilateral control "transparency" is not applied because of the different motion areas between the master and the slave. Therefore, the evaluation of these methods which consist on master-slave system with different motion areas have not been conducted. On the other hand, the proposed control index is based on the operational energy of the operator. By using the proposed control index, therefore, the superiority of the bilateral control is shown by the operational energy. In addition, this paper shows that the dimensional scaling bilateral control is superior to the micro-macro bilateral control from operational energetic point of view by the proposed control index. Finally, the validity of the proposal is verified by experimental results.

本文言語English
ホスト出版物のタイトルProceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012
ページ1656-1661
ページ数6
DOI
出版ステータスPublished - 2012 8 15
イベント21st IEEE International Symposium on Industrial Electronics, ISIE 2012 - Hangzhou, China
継続期間: 2012 5 282012 5 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other21st IEEE International Symposium on Industrial Electronics, ISIE 2012
CountryChina
CityHangzhou
Period12/5/2812/5/31

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

フィンガープリント 「A novel control index of bilateral control for master-slave system with different motion areas」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル