@inproceedings{addb0f030b93472e8b813f7d0025a71c,
title = "An analysis of a novel master-slave control and its application to MDOF motion systems",
abstract = "This paper describes a master-slave control by force feedback based virtual impedance controller. In proposed method, human operator can design {"}Operationality{"} arbitrarily by changing the impedance model. This is one of the remarkable points. And more, motion commands of master and slave are generated by the minimum feedback information in proposed method. To verify the validity of proposed method, the performance of the controller is analyzed and evaluated by using {"}Reproducibility{"} and {"}Operationality{"}. Furthermore, proposed controller and 4ch bilateral controller are compared experimentally and the validation is conducted with 1-DOF and 2-DOF manipulator.",
keywords = "Force feedback, MDOF motion systems, Master-slave system, Operationality, Reproducibility, Virtual impedance control",
author = "Ryosuke Horie and Toshiyuki Murakami",
year = "2011",
month = dec,
day = "1",
doi = "10.1109/IECON.2011.6119357",
language = "English",
isbn = "9781612849720",
series = "IECON Proceedings (Industrial Electronics Conference)",
pages = "474--479",
booktitle = "Proceedings",
note = "37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 ; Conference date: 07-11-2011 Through 10-11-2011",
}