TY - GEN
T1 - Implementation of multirate acceleration control based bilateral control system including mode transformation on FPGA
AU - Tanaka, Hiroyuki
AU - Ohnishi, Kouhei
AU - Nishi, Hiroaki
PY - 2008/1/1
Y1 - 2008/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=63149141351&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2008.4758343
DO - 10.1109/IECON.2008.4758343
M3 - Conference contribution
AN - SCOPUS:63149141351
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2465
EP - 2470
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
ER -