TY - GEN
T1 - Little friction structure for macro-micro bilateral control system
AU - Mizutani, Yosuke
AU - Katsura, Seiichiro
PY - 2012
Y1 - 2012
N2 - In this paper, structure of master system and slave system for macro-micro bilateral system are proposed. In the macro-micro bilateral control system, disturbance force added to slave system is scaled. It is ideal that only environment reaction force of slave system is scaled. However, the disturbance force of slave system contains not only environment force but force of gravity and friction. Therefore, the gravity and friction are also scaled in the macro-micro bilateral control system. In this paper, linear motors are used to proposed master and slave system. Effect of gravity is very little in the linear motor, it can be neglected. Effect of friction can not be neglected, especially in the case of large scaling rate. Therefore, the friction of the proposed systems are rid by air flow. The proposed systems are given air flow under the linear motor and rid the friction. The availability of proposed method is confirmed by experiment.
AB - In this paper, structure of master system and slave system for macro-micro bilateral system are proposed. In the macro-micro bilateral control system, disturbance force added to slave system is scaled. It is ideal that only environment reaction force of slave system is scaled. However, the disturbance force of slave system contains not only environment force but force of gravity and friction. Therefore, the gravity and friction are also scaled in the macro-micro bilateral control system. In this paper, linear motors are used to proposed master and slave system. Effect of gravity is very little in the linear motor, it can be neglected. Effect of friction can not be neglected, especially in the case of large scaling rate. Therefore, the friction of the proposed systems are rid by air flow. The proposed systems are given air flow under the linear motor and rid the friction. The availability of proposed method is confirmed by experiment.
UR - http://www.scopus.com/inward/record.url?scp=84874275175&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874275175&partnerID=8YFLogxK
U2 - 10.1109/SII.2012.6426943
DO - 10.1109/SII.2012.6426943
M3 - Conference contribution
AN - SCOPUS:84874275175
SN - 9781467314961
T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
SP - 792
EP - 797
BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
Y2 - 16 December 2012 through 18 December 2012
ER -