書誌事項
- タイトル別名
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- Bilateral Control of Master-Slave Systems with Different Scaling
- オオキサ ノ コトナル マスタ スレーブ ノ バイラテラル セイギョ
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抄録
Bilateral control is one of control methods used to achieve haptic teleoperation between remote places. If the bilateral system is utilized for small or large environments such as those in brain surgery and space development, it is necessary that the system takes into account scaling factors between the master and slave. In this paper, we propose the bilateral control of master-slave system with different scaling on the basis of reproducibility and operationality which are one of the evaluation indices of bilateral control system. The proposed control system contains two kinds of scaling factors. One of them is scaling factors of position and force responses that are used to determine the scaling ratio between the master and the slave. The other one is used to adjust the control gains at the master and the slave, respectively. In this paper, some scaling types depending on the nominal masses of the systems are proposed. In order to compare the scaling methods, the analysis results of the proposed method on reproducibility and operationality are shown. Moreover, experimental results confirm the validity of the proposed method.
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 (7), 682-690, 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
- 1390001204659939072
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- NII論文ID
- 10025102110
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10357015
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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