Design Method for a Bilateral Control System Considering Ambient Environment around Operated Objects
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- Kuwahara Hiroaki
- Department of System Design Engineering, Keio University
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- Susa Shigeru
- Department of System Design Engineering, Keio University
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- Hyodo Shoyo
- Department of System Design Engineering, Keio University
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- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
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- 操作対象の周辺環境を考慮したバイラテラル制御系の一構成法
- ソウサ タイショウ ノ シュウヘン カンキョウ オ コウリョ シタ バイラテラル セイギョケイ ノ イチ コウセイホウ
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Abstract
In teleoperation, the operated objects are often present in an ambient environment such as water or blood. It then becomes difficult to distinguish between the reaction force from the operated objects and the reaction force from the ambient environment. This affects the safety of the operation and the operation itself. In this paper, we propose a control method for reproducing the reaction forces from an operated object, excluding the reaction forces from the ambient environment. We introduced the concept of dynamic reproducibility, which is an ideal condition considering the ambient environment. Furthermore, a bilateral control system that considers the ambient environment is designed on the basis of dynamic reproducibility. The validity of the proposed system is confirmed by the simulation results and the experimental results.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 129 (6), 649-657, 2009
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
- 1390282679635691648
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- NII Article ID
- 10024776569
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 10326436
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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