TY - GEN
T1 - Macro-micro bilateral control with friction-free structure
AU - Yorozu, Shutaro
AU - Katsura, Seiichiro
PY - 2009/12/1
Y1 - 2009/12/1
N2 - Micro manipulation technology is demanded for many fields such as engineering, medical fields, and biological disciplines. Macro-micro bilateral control is essential technique to realize micro manipulation with force feedback. However, viscosity friction in micro environment is problem when the system conducts unconstrained motion. Moreover, the signal noise of position encoder is also problems. This paper proposes the cancellation of viscosity friction and signal noise by using differential mode of force and position in slave system. The pure grip force is able to get by the cancellation of viscosity friction. The viability of the proposed method are shown by some experimental results.
AB - Micro manipulation technology is demanded for many fields such as engineering, medical fields, and biological disciplines. Macro-micro bilateral control is essential technique to realize micro manipulation with force feedback. However, viscosity friction in micro environment is problem when the system conducts unconstrained motion. Moreover, the signal noise of position encoder is also problems. This paper proposes the cancellation of viscosity friction and signal noise by using differential mode of force and position in slave system. The pure grip force is able to get by the cancellation of viscosity friction. The viability of the proposed method are shown by some experimental results.
KW - Bilateral control
KW - Disturbancde observer
KW - Electromechanical integration system
KW - Haptic energy conversion
KW - Micro manipulation
KW - Mode transformation
KW - Real-world haptics
UR - http://www.scopus.com/inward/record.url?scp=77951139475&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951139475&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951139475
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 1563
EP - 1568
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -