Transmission of force sensation by micro-macro bilateral control with scaling of control gains

Shigeru Susa, Tomoyuki Shimono, Takayoshi Takei, Kouji Atsuta, Naoki Shimojima, Soji Ozawa, Yasuhide Morikawa, Kouhei Ohnishi

研究成果: Conference contribution

32 被引用数 (Scopus)

抄録

A micro-macro bilateral system consists of master and slave system of different sizes. Thus, it is vital for the micromacro bilateral control to use appropriate scaling factors of position and force responses, And the appropriate control gains should be used according to the scaling gains. The proposed method is designed based on ideal reproducibility and ideal operationality of micro-macro bilateral control system. By deriving the control system to satisfy the ideal reproducibility, scaling factors of control gains are obtained. In this paper, the frequency analysis results of hybrid parameters are shown to verify the validity of the proposed method. And the proposed method is applied to the experimental micro-macro bilateral system and the results of the experimentation with real biological environments is shown. Moreover, the impedances of the contacted objects are estimated and compared.

本文言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ532-537
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3月 262008 3月 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
国/地域Italy
CityTrento
Period08/3/2608/3/28

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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