TY - GEN
T1 - A method for improving scaling bilateral control by integration of physical and control scaling ratio
AU - Ogawa, Kenji
AU - Kozuki, Ryohei
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.
AB - This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84929346955&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929346955&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7084030
DO - 10.1109/ICMECH.2015.7084030
M3 - Conference contribution
AN - SCOPUS:84929346955
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 516
EP - 521
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -