TY - GEN
T1 - Macro-micro bilateral control system without position limitation
AU - Mizutani, Yosuke
AU - Katsura, Seiichiro
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Recently, robots for micro manipulation are desired in the medical care field. In that case, transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system, position and force of slave motor are enlarged. Therefore, slave motor position is limited by scaling gain. Due to this limitation, if scaling gain is high, slave may not be able to touch the environment. On the other hand, dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system, slave velocity tracks the master position. In this paper, in order to avoid the position limitation of slave motor, the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed.
AB - Recently, robots for micro manipulation are desired in the medical care field. In that case, transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system, position and force of slave motor are enlarged. Therefore, slave motor position is limited by scaling gain. Due to this limitation, if scaling gain is high, slave may not be able to touch the environment. On the other hand, dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system, slave velocity tracks the master position. In this paper, in order to avoid the position limitation of slave motor, the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed.
UR - http://www.scopus.com/inward/record.url?scp=84903175399&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903175399&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823365
DO - 10.1109/AMC.2014.6823365
M3 - Conference contribution
AN - SCOPUS:84903175399
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 693
EP - 698
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 -