Distinction of connection condition of system in bilateral control

Takeshi Okura; Seiichiro Katsura

doi:10.1109/IECON.2009.5414830

Distinction of connection condition of system in bilateral control

Takeshi Okura, Seiichiro Katsura

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.

Original language	English
Pages	1859-1864
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5414830
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2009.5414830

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title = "Distinction of connection condition of system in bilateral control",

abstract = "Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.",

author = "Takeshi Okura and Seiichiro Katsura",

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doi = "10.1109/IECON.2009.5414830",

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AU - Okura, Takeshi

AU - Katsura, Seiichiro

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AB - Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.

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T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

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ER -

Distinction of connection condition of system in bilateral control

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