TY - GEN
T1 - Haptics for industries
AU - Ohnishi, Kouhei
AU - Nozaki, Takahiro
AU - Mizoguchi, Takahiro
PY - 2014/1/1
Y1 - 2014/1/1
N2 - The paradigm of 21st century is clearly different from 20th century. This is shift from mass production based on standardization to small number and wide variety of production. To take the paradigm shift, any production system should have force control providing high adaptability inside. This gives the difficulty to the motion controller where the position control with very high stiffness and the force control with zero stiffness exist at the same time. This paper introduces a solution using coordinate transformation which connects velocity source and force source in the functional space. The simplest case is the function of transmittal of force between slave and master. This is known as the acceleration-based bilateral control in real world haptics. If such functions will be installed, the production system will have more direct and convenient teaching system. Some examples will be introduced.
AB - The paradigm of 21st century is clearly different from 20th century. This is shift from mass production based on standardization to small number and wide variety of production. To take the paradigm shift, any production system should have force control providing high adaptability inside. This gives the difficulty to the motion controller where the position control with very high stiffness and the force control with zero stiffness exist at the same time. This paper introduces a solution using coordinate transformation which connects velocity source and force source in the functional space. The simplest case is the function of transmittal of force between slave and master. This is known as the acceleration-based bilateral control in real world haptics. If such functions will be installed, the production system will have more direct and convenient teaching system. Some examples will be introduced.
UR - http://www.scopus.com/inward/record.url?scp=84903159049&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903159049&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823251
DO - 10.1109/AMC.2014.6823251
M3 - Conference contribution
AN - SCOPUS:84903159049
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 11
EP - 12
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 -