Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems

Hideaki Tai, Toshiyuki Murakami

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in masterslave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results.

元の言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ343-348
ページ数6
DOI
出版物ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Japan
Nagaoka, Niigata
期間10/3/2110/3/24

ASJC Scopus subject areas

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

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  • これを引用

    Tai, H., & Murakami, T. (2010). Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems. : AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 343-348). [5464107] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464107