Micro-macro bilateral control with compensation of gravity and friction

Yosuke Mizutani, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

In the macro-micro bilateral control, external force added to the slave motor is scaled. In the control, gravity and friction of the slave motor is scaled. Therefore, when the scaling rate is large, adverse effects of the gravity and friction become large. For accurate control, these factors must be compensated. Environment quarrier is proposed as the real time identification and compensation of the gravity and friction. It uses dummy motor and operate motor. These motors have same structure and same position. By assuming that the gravity and friction of the motors are same, the system achieves real time identification and compensation of the gravity and friction. This paper proposes micro macro bilateral control with compensation of the gravity and friction. The system consists of master motor, slave motor and dummy motor. The master and slave motors are controlled by macro-micro bilateral control. The dummy motor compensates gravity and friction of the slave motor. The proposed system decreases the negative effect of the gravity and friction when the scaling rate is large.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ780-785
ページ数6
DOI
出版ステータスPublished - 2013 7 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2 272013 3 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
国/地域Italy
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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