Design of bilateral control based on equivalent circuit model

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Haptic teleoperation has been studied as an attractive technology for a long time. Although the haptic teleoperation has been already realized by conventional methods, their physical meanings are remained vague and unclear. This paper explains bilateral control for the haptic teleoperation using an equivalent circuit model. Owing to the circuit model, which takes into account characteristics of electrical actuators, a control strategy and its physical meanings are clearly illustrated. Torque (force) control and position (velocity) control for the haptic teleoperation can be designed independently because of mode decomposition. Feedback controller design for each control is based on analyses of sensitivity derived from the equivalent circuit. The control strategy derived from the equivalent circuit have been confirmed by experiments and resulted in the haptic teleoperation.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1351-1356
ページ数6
ISBN(電子版)9781538663769
DOI
出版ステータスPublished - 2019 2 1
イベント2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
継続期間: 2019 2 132019 2 15

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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