Control Structure Determination of Bilateral System based on Reproducibility and Operationality

Kazuki Tanida, Toshiaki Okano, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

3 被引用数 (Scopus)

抄録

The 4ch bilateral control is a teleoperation method that transmits the position and force information between the master and slave, and the reproducibility and operationality are often used to evaluate it. Conventionally, the reproducibility and operationality have been utilized only for performance evaluation, although many controllers based on the 4ch bilateral control scheme have been proposed. Therefore, the aim of this paper is to determine the controller structure based on the target reproducibility and operationality in advance. The contribution of this paper is to develop an appropriate controller from the reproducibility and operationality through numerical computations and analyses. The structure of the proposed controller is verified through simulations and experiments.

本文言語English
ページ(範囲)767-777
ページ数11
ジャーナルIEEJ Journal of Industry Applications
8
5
DOI
出版ステータスPublished - 2019

ASJC Scopus subject areas

  • 自動車工学
  • エネルギー工学および電力技術
  • 機械工学
  • 産業および生産工学
  • 電子工学および電気工学

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