Macro-micro bilateral control system without position limitation

Yosuke Mizutani, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, robots for micro manipulation are desired in the medical care field. In that case, transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system, position and force of slave motor are enlarged. Therefore, slave motor position is limited by scaling gain. Due to this limitation, if scaling gain is high, slave may not be able to touch the environment. On the other hand, dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system, slave velocity tracks the master position. In this paper, in order to avoid the position limitation of slave motor, the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ693-698
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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