Position/force scaling of function-based bilateral control system

Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Paper査読

15 被引用数 (Scopus)

抄録

This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynamics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates.

本文言語English
ページ96-101
ページ数6
出版ステータスPublished - 2004 12月 1
イベント2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia
継続期間: 2004 12月 82004 12月 10

Other

Other2004 IEEE International Conference on Industrial Technology, ICIT
国/地域Tunisia
CityHammamet
Period04/12/804/12/10

ASJC Scopus subject areas

  • 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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