Bilateral motion control for reproduction of real world force sensation based on the environmental model

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Article査読

21 被引用数 (Scopus)

抄録

This paper proposes abstraction and reproduction methods on bilateral control of real world force sensation, and reconstruction of real world environment as well. In the abstraction mode, a master-slave system is composed, and the action-reaction law is attained through bilateral control. Later, based on acceleration information, the force, position and velocity of both master and slave systems are estimated and obtained. In the reconstruction mode, an environmental model is reconstructed based on the obtained data from real-world. Next, by using reproduction mode on master side, the operator would feel the force sensation from the obtained environmental model. Here, the proposed system is able to store the bilateral real-world force sensation to a sensation database. Finally, the experimental results show the validity of the proposed method.

本文言語English
ページ(範囲)1059-1068
ページ数10
ジャーナルieej transactions on industry applications
126
8
DOI
出版ステータスPublished - 2006

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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