Achievement of high scaling gain macro-micro bilateral control system

Yosuke Mizutani, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4055-4060
ページ数6
DOI
出版ステータスPublished - 2013
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11 102013 11 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Achievement of high scaling gain macro-micro bilateral control system」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