An Approach to Bilateral Control System for Improvement of Operationality

• Tanaka Hiroyuki

  Keio University Dep. of System Design Eng.

• Ohnishi Kouhei

  Keio University Dep. of System Design Eng.

Bibliographic Information

Other Title

• 操作性を向上させるためのバイラテラル制御系の一考察
• ソウサセイ オ コウジョウサセル タメノ バイラテラル セイギョケイ ノ イチ コウサツ

Abstract

Many types of bilateral control architectures to transmit force sensation have been proposed. Some control methods obtain good performance. Operationality is not satisfactory, however, when these methods are implemented in bilateral systems with large inertia and friction force. In this paper, a novel bilateral control method is proposed to improve operationality of bilateral systems with large inertia and friction force. The proposed method is compared with a conventional method, and the effectiveness of the proposed method is demonstrated by coordinate transformation and experiments.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 127 (8), 851-857, 2007

  The Institute of Electrical Engineers of Japan

Keywords

• bilateral control
• operationality
• master-slave system
• haptics

Details

• CRID: 1390282679635717504
• NII Article ID: 10019521382
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.127.851
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 8906928
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8906928
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/127/8/127_8_851/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed