書誌事項
- タイトル別名
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- Micro-Macro Bilateral Control Taking into Account Scaling of Control Gains
- セイギョ ゲインスケーリング オ コウリョシタ ミクロマクロバイラテラル セイギョ
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抄録
In micro-macro bilateral control systems, it is important to use position and force scaling factors that depend on the size of the master and slave system. Moreover, it is vital for control systems to use appropriate control gains depending on the scaling ratio between master and slave response. This paper proposes a micro-macro bilateral control system based on the scaling of control gains. In this system, the control gains of the master and slave system are adjusted to appropriate values by using control gain scaling factors. These scaling factors are obtained by designing a micro-macro bilateral control system to achieve ideal reproducibility. To verify the validity of the proposed system, analytical results for the reproducibility, operationality, and stability of the proposed control system are presented in this paper. Moreover, the proposed system is used in an experimental micro-macro bilateral system, and the results are presented.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 129 (2), 150-157, 2009
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204659764864
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- NII論文ID
- 10024000319
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10162090
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可