Transmission of force sensation by micro-macro bilateral control with respect to standardized modal space

Tomoyuki Shimono, Seiichiro Katsura, Shigeru Susa, Takayoshi Takei, Kouhei Ohnishi

研究成果: Conference contribution

26 被引用数 (Scopus)

抄録

This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode space respectively. In the modal space, common mode and differential mode are orthogonal. Thus, force control and position control are able to be realized simultaneously. Additionally, the standardization matrix that harmonizes the standard of macro master system with the standard of micro slave system in the modal space is proposed as well. With the proposed method, the transmission of force sensation from the real micro environment is achieved. To verify the validity of the proposed method, experimental results are shown.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOI
出版ステータスPublished - 2007 12月 1
イベント4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
継続期間: 2007 5月 82007 5月 10

出版物シリーズ

名前Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other4th IEEE International Conference on Mechatronics, ICM 2007
国/地域Japan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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