Abstract
Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.
| Original language | English |
|---|---|
| Pages (from-to) | 487-492 |
| Number of pages | 6 |
| Journal | Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering |
| Volume | 82 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2016 |
Keywords
- Bilateral control
- Disturbance observer
- Modal transformation
- Motion control
- Real-world haptics
ASJC Scopus subject areas
- Mechanical Engineering
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