TY - GEN
T1 - Analysis of operational force under non-ideal condition for bilateral control
AU - Tanida, Kazuki
AU - Ohnishi, Kouhei
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal condition such as disturbance modeling error in Reaction Force Observer (RFOB), estimated force will be different from true value. In this condition, operational force is different from operationality. Therefore, in this paper, operational force in non-ideal condition is considered. From experimental bode diagram results, operational force in non-ideal condition was made performance of bilateral control degradation.
AB - Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal condition such as disturbance modeling error in Reaction Force Observer (RFOB), estimated force will be different from true value. In this condition, operational force is different from operationality. Therefore, in this paper, operational force in non-ideal condition is considered. From experimental bode diagram results, operational force in non-ideal condition was made performance of bilateral control degradation.
UR - http://www.scopus.com/inward/record.url?scp=84903125081&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2014.6823300
DO - 10.1109/AMC.2014.6823300
M3 - Conference contribution
AN - SCOPUS:84903125081
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 308
EP - 313
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -