TY - GEN
T1 - Achievement of high scaling gain macro-micro bilateral control system
AU - Mizutani, Yosuke
AU - Katsura, Seiichiro
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.
AB - Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.
KW - Acceleration
KW - Bidirectional Control
KW - Control Design
KW - Force Control
KW - Motion Compensation
KW - Motion Control
KW - Observers
KW - Position Control
KW - Robot Control
UR - http://www.scopus.com/inward/record.url?scp=84893597596&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893597596&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699785
DO - 10.1109/IECON.2013.6699785
M3 - Conference contribution
AN - SCOPUS:84893597596
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4055
EP - 4060
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -