Transmission of Real World Force Sensation by Micro/Macro Bilateral Control Based on Acceleration Control with Standardization Matrix

• Shimono Tomoyuki

  Department of System Design Engineering, Keio University

• Katsura Seiichiro

  Department of Electrical Engineering, Nagaoka University of Technology

• Susa Shigeru

  Department of System Design Engineering, Keio University

• Takei Takayoshi

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• 規格化行列を用いた加速度制御に基づくミクロ／マクロバイラテラル制御による実世界力覚伝達
• キカクカ ギョウレツ オ モチイタ カソクド セイギョ ニ モトズク ミクロ マクロ バイラテラル セイギョ ニ ヨル ジッセカイ リキカク デンタツ

Abstract

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.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 128 (6), 726-732, 2008

  The Institute of Electrical Engineers of Japan

Keywords

• motion control
• disturbance observer
• haptics
• acceleration control
• micro/macro bilateral control
• force sensation

Details

• CRID: 1390282679635626624
• NII Article ID: 10021134462
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.128.726
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 9532467
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9532467
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/128/6/128_6_726/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed