Macro-micro bilateral control with friction-free structure

Shutaro Yorozu, Seiichiro Katsura

研究成果: Conference contribution

抄録

Micro manipulation technology is demanded for many fields such as engineering, medical fields, and biological disciplines. Macro-micro bilateral control is essential technique to realize micro manipulation with force feedback. However, viscosity friction in micro environment is problem when the system conducts unconstrained motion. Moreover, the signal noise of position encoder is also problems. This paper proposes the cancellation of viscosity friction and signal noise by using differential mode of force and position in slave system. The pure grip force is able to get by the cancellation of viscosity friction. The viability of the proposed method are shown by some experimental results.

本文言語English
ホスト出版物のタイトルICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ページ1563-1568
ページ数6
出版ステータスPublished - 2009 12月 1
イベントICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
継続期間: 2009 8月 182009 8月 21

出版物シリーズ

名前ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
国/地域Japan
CityFukuoka
Period09/8/1809/8/21

ASJC Scopus subject areas

  • 情報システム
  • 制御およびシステム工学
  • 産業および生産工学

フィンガープリント

「Macro-micro bilateral control with friction-free structure」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