TY - GEN
T1 - Fiber suspended micro force transmission system using scaling bilateral control
AU - Hangai, Satoshi
AU - Nozaki, Takahiro
AU - Ohnishi, Kouhei
N1 - Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2018/12/26
Y1 - 2018/12/26
N2 - In this paper, friction-reduced scaling bilateral control system for micro force transmission is proposed. Recently, demand for micro manipulation is drastically increasing in the fields of medical or biological science. In order to support micro manipulation, many researchers are trying to apply force feedback to the manipulation. One of the methods is bilateral control with Reaction Force Observer(RFOB). Bilateral control system is composed of a master robot and slave robot. Slave robot tracks master robot's motion and transmits reaction force to operator at master side. In the conventional bilateral control system, if reaction force is smaller than frictional force of machine structure, operator cannot distinguish the slight reaction force at hand. In this paper, actuator is supported by fiber to reduce the frictional force. Furthermore, disturbance arisen by fiber tension is modeled, and compensated. Experiments are conducted to validate the proposal.
AB - In this paper, friction-reduced scaling bilateral control system for micro force transmission is proposed. Recently, demand for micro manipulation is drastically increasing in the fields of medical or biological science. In order to support micro manipulation, many researchers are trying to apply force feedback to the manipulation. One of the methods is bilateral control with Reaction Force Observer(RFOB). Bilateral control system is composed of a master robot and slave robot. Slave robot tracks master robot's motion and transmits reaction force to operator at master side. In the conventional bilateral control system, if reaction force is smaller than frictional force of machine structure, operator cannot distinguish the slight reaction force at hand. In this paper, actuator is supported by fiber to reduce the frictional force. Furthermore, disturbance arisen by fiber tension is modeled, and compensated. Experiments are conducted to validate the proposal.
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U2 - 10.1109/IECON.2018.8592787
DO - 10.1109/IECON.2018.8592787
M3 - Conference contribution
AN - SCOPUS:85061524346
T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
SP - 4575
EP - 4580
BT - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Y2 - 20 October 2018 through 23 October 2018
ER -