Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

FPGA has been focused on as a controller of robot systems. Haptic robot system based on bilateral control system is one of the significant applications using the FPGA. In this paper, the bilateral control system including mode transformation is implemented on the FPGA. The bilateral control system is based on acceleration control system. The mode transformation is a transformation between robot mode space and operational mode space. Furthermore, multirate sampling method is introduced to consider hardware limitation. Some experimental results are shown in order to verify the validity of the implementation.

本文言語English
ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版社IEEE Computer Society
ページ2465-2470
ページ数6
ISBN(印刷版)9781424417667
DOI
出版ステータスPublished - 2008 1 1

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

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

フィンガープリント

「Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル