Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.
|ジャーナル||Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering|
|出版ステータス||Published - 2016|
ASJC Scopus subject areas
- Mechanical Engineering