Transmission of real world force sensation by micro/macro bilateral control based on acceleration control with standardization matrix

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

研究成果: Article

37 引用 (Scopus)

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This paper proposes novel micro/macro bilateral control based on acceleration control with standardization matrix. In bilateral control, force control and position control should be realized simultaneously. However, they are not able to be realized in one real axis at the same time. Thus, force control and position control are realized in virtual mode space in this paper. Then, the proposed standardization matrix is able to harmonize the standard of macro master system with the standard of micro slave system in the virtual mode space. With the proposed method, the transmission of force sensation from the real micro environment is realized. The experimental results are shown to verify the viability of the proposed method.

元の言語English
ページ(範囲)726-732+6
ジャーナルieej transactions on industry applications
128
発行部数6
DOI
出版物ステータスPublished - 2008 12 1

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ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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