Analysis, modeling, and compensation of friction for scaled bilateral control

Yosuke Mizutani; Seiichiro Katsura

doi:10.1541/ieejjia.3.344

Analysis, modeling, and compensation of friction for scaled bilateral control

Yosuke Mizutani, Seiichiro Katsura

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

Original language	English
Pages (from-to)	344-349
Number of pages	6
Journal	IEEJ Journal of Industry Applications
Volume	3
Issue number	4
DOIs	https://doi.org/10.1541/ieejjia.3.344
Publication status	Published - 2014

Keywords

Coulomb friction
Macro-micro bilateral control system
Scaling
Viscous friction

ASJC Scopus subject areas

Automotive Engineering
Energy Engineering and Power Technology
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejjia.3.344

Cite this

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abstract = "At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.",

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AB - At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

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KW - Macro-micro bilateral control system

KW - Scaling

KW - Viscous friction

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Analysis, modeling, and compensation of friction for scaled bilateral control

Abstract

Keywords

ASJC Scopus subject areas

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