Bilateral Motion Control for Reproduction of Real World Force Sensation based on the Environmental Model
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- Shimono Tomoyuki
- Department of System Design Engineering, Keio University
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- Katsura Seiichiro
- Department of Electrical Engineering, Nagaoka University of Technology
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- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
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- 環境モデルに基づく実世界力覚情報再現のための双方向モーションコントロール
- カンキョウ モデル ニ モトヅク ジツ セカイリキカク ジョウホウ サイゲン ノ タメ ノ ソウホウコウ モーションコントロール
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Abstract
This paper proposes abstraction and reproduction methods on bilateral control of real world force sensation, and reconstruction of real world environment as well. In the abstraction mode, a master-slave system is composed, and the action-reaction law is attained through bilateral control. Later, based on acceleration information, the force, position and velocity of both master and slave systems are estimated and obtained. In the reconstruction mode, an environmental model is reconstructed based on the obtained data from real-world. Next, by using reproduction mode on master side, the operator would feel the force sensation from the obtained environmental model. Here, the proposed system is able to store the bilateral real-world force sensation to a sensation database. Finally, the experimental results show the validity of the proposed method.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 126 (8), 1059-1068, 2006
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204657464320
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- NII Article ID
- 10018181993
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 8054992
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed