Controller Design Method of Bilateral Control System

• 辻, 俊明

• 名取, 賢二

• 大西, 公平

• TSUJI, Toshiaki

• NATORI, Kenji

• OHNISHI, Kouhei

Abstract

type:text

Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control system. The idea is to design the bilateral control system based on a “function”, a minimum component of a system role. It enables simple and explicit design for various tasks. The features of the proposed method provide a way to design an adjustable system. Experimental results show the validity of the proposed method.

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Journal

• Proceedings of the 11th International Power Electronics and Motion Control Conference, EPE-PEMC'04-RIGA

  Proceedings of the 11th International Power Electronics and Motion Control Conference, EPE-PEMC'04-RIGA 4 123-128, 2004

  IEEE-Institute of Electrical and Electronics Engineers, Inc

Keywords

• Bilateral control
• force control
• disturbance
• observer
• teleoperation

Details

• CRID: 1050011097131838720
• NII Article ID: 120006681454
• Web Site: http://id.nii.ac.jp/1586/00009303/
• Text Lang: en
• Article Type: conference paper
• Data Source:
  • IRDB
  • CiNii Articles