Position/force scaling of function-based bilateral control system

Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

17 Citations (Scopus)


This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynamics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates.

Original languageEnglish
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia
Duration: 2004 Dec 82004 Dec 10


Other2004 IEEE International Conference on Industrial Technology, ICIT


  • Bilateral control
  • Disturbance observer
  • Force control
  • Function-based control
  • Scaling control
  • Teleoperation

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Position/force scaling of function-based bilateral control system'. Together they form a unique fingerprint.

Cite this