TY - GEN
T1 - Transmission of force sensation by micro-macro bilateral control with respect to standardized modal space
AU - Shimono, Tomoyuki
AU - Katsura, Seiichiro
AU - Susa, Shigeru
AU - Takei, Takayoshi
AU - Ohnishi, Kouhei
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode space respectively. In the modal space, common mode and differential mode are orthogonal. Thus, force control and position control are able to be realized simultaneously. Additionally, the standardization matrix that harmonizes the standard of macro master system with the standard of micro slave system in the modal space is proposed as well. With the proposed method, the transmission of force sensation from the real micro environment is achieved. To verify the validity of the proposed method, experimental results are shown.
AB - This paper proposes novel micro-macro bilateral control architecture with respect to standardized modal space. In bilateral control, force control and position control must be realized simultaneously in the same real axis. In this paper, force control is achieved in virtual common mode space and position control is attained in virtual differential mode space respectively. In the modal space, common mode and differential mode are orthogonal. Thus, force control and position control are able to be realized simultaneously. Additionally, the standardization matrix that harmonizes the standard of macro master system with the standard of micro slave system in the modal space is proposed as well. With the proposed method, the transmission of force sensation from the real micro environment is achieved. To verify the validity of the proposed method, experimental results are shown.
UR - http://www.scopus.com/inward/record.url?scp=50649090261&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50649090261&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2007.4280061
DO - 10.1109/ICMECH.2007.4280061
M3 - Conference contribution
AN - SCOPUS:50649090261
SN - 142441184X
SN - 9781424411849
T3 - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
BT - Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
T2 - 4th IEEE International Conference on Mechatronics, ICM 2007
Y2 - 8 May 2007 through 10 May 2007
ER -