Haptic micro manipulation using grasping/manipulating mode with different DOF

Daisuke Tomizuka, Kouhei Ohnishi

研究成果: Conference contribution

抄録

In recent years, the demand for technique to transmit the touching sensation is increasing in a medical field. This paper shows that Voice Coil Motor (VCM)-based haptic system enables operators to grasp and manipulate a small and fragile environment with tactile sensation. Author proposed that bilateral control between different degree-of-freedom without position controller system attain the grasping task and the manipulation task simultaneously. However, the system without the position controller cannot position accurately because of the friction. Thus, bilateral control between different degree-of-freedom with position controller system accomplishing the grasping task and the manipulation task simultaneously by updating command is proposed. In addition, the proposed method based on both oblique coordinate control and decoupling method using MDOB are verified.

本文言語English
ホスト出版物のタイトルProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
出版社IEEE Computer Society
ページ710-715
ページ数6
ISBN(電子版)9781509034741
DOI
出版ステータスPublished - 2016 12 21
イベント42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
継続期間: 2016 10 242016 10 27

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
国/地域Italy
CityFlorence
Period16/10/2416/10/27

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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