NDLI: Equivalent mass matrix based bilateral control for multi-degrees-of-freedom systems

Content Provider	IEEE Xplore Digital Library
Author	Tai, H. Murakami, T.
Copyright Year	2010
Description	Author affiliation: Department of System Design Engineering, Keio University, Yokohama, Japan (Tai, H.; Murakami, T.)
Abstract	In this paper, two method were proposed for MDOF and different configuration bilateral system. First is the basic control architecture for MDOF systems. In this paper, the difference are clarified between conventional joint space based bilateral control and operational space control based on DTOB. In addition, the control architecture based on DFOB is proposed to improve the transparency of the system. As the second proposal, the scaling matrix design is also described for the master-slave system with different structure. The scaling for force and position information is designed based on the dynamic and kinematic model. Proposed scaling can match the scale in master-slave system, and it improves the operability of human operator. In addition, the advantage of the proposed DFOB based bilateral control architecture is also described. The validity of these two proposed methods are supported by several experiment results.
Starting Page	343
Ending Page	348
File Size	946775
Page Count	6
File Format	PDF
ISBN	9781424466689
ISSN	19436572
e-ISBN	9781424466702
e-ISBN	9781424466696
DOI	10.1109/AMC.2010.5464107
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-21
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Weight control Control systems Master-slave Force control Torque control Humans Motion control Proposals Design engineering Systems engineering and theory Multi-Degrees-of-Freedom System Bilateral Control Equivalent Mass Matrix Decoupled Controller Disturbance Torque Observer Disturbance Force Observer Scaling
Content Type	Text
Resource Type	Article

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