Analysis of operational force under non-ideal condition for bilateral control

Kazuki Tanida, Kouhei Ohnishi

研究成果: Conference contribution

抜粋

Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal condition such as disturbance modeling error in Reaction Force Observer (RFOB), estimated force will be different from true value. In this condition, operational force is different from operationality. Therefore, in this paper, operational force in non-ideal condition is considered. From experimental bode diagram results, operational force in non-ideal condition was made performance of bilateral control degradation.

元の言語English
ホスト出版物のタイトルInternational Workshop on Advanced Motion Control, AMC
出版者Institute of Electrical and Electronics Engineers Inc.
ページ308-313
ページ数6
ISBN(印刷物)9781479923243
DOI
出版物ステータスPublished - 2014
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Japan
Yokohama
期間14/3/1414/3/16

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

これを引用

Tanida, K., & Ohnishi, K. (2014). Analysis of operational force under non-ideal condition for bilateral control. : International Workshop on Advanced Motion Control, AMC (pp. 308-313). [6823300] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823300