Bilateral force feedback control with virtual constraint for operational assistance

Shutaro Yorozu, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Recently, the study of real-world haptics is taken place actively. Haptics is scholarship about tactile sensation. Among them, the realization of high accuracy micro manipulation is demanded from many industrial fields such as medical treatment and manufacturing. In micro region, high accuracy positioning system and multi-degree of freedom system are needed for precise manipulation. However, operator must concentrate on operation of environment after approaching to position of environment when micromanipulation by multi-degree of freedom haptic system is considered. Conventional systems are not considered about the control system of the base of the manipulator after approaching to position of environment. Thus, the bilateral control using virtual compliance control is proposed in this paper. This is because the system is limited depending on the movement of the operator by implementing virtual compliance control. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1471-1476
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11月 72010 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
国/地域United States
CityGlendale, AZ
Period10/11/710/11/10

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

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