NDLI: Hybrid control of position and force for bilateral system

Content Provider	IEEE Xplore Digital Library
Author	Nishioka, Y. Ohnishi, K.
Copyright Year	2003
Description	Author affiliation: Dept. of Syst. Design Eng., Keio Univ., Kanagawa, Japan (Nishioka, Y.; Ohnishi, K.)
Abstract	Remote control operation system has been used for an operation at dangerous area or as a medical robot system. Though it has an ability to reproduce an operator's motion at remote place, it cannot transfer the sensed force to the operator. Bilateral control is a method for remote control operation system to transmit the force sense. Although various bilateral control architectures have been studied, it is difficult to realize its ideal responses. One of the difficulties is the adaptation to the open environment with contact or noncontact motions. This paper proposes hybrid controller in the same direction, which can change the impedance with its selection ratios. In addition, an approach to acquire environmental information in the form of the selection ratios is described. The proposed bilateral system obtains an adaptation to the open environment and realizes ideal responses. The effectiveness of the proposed system is confirmed by experiments.
Sponsorship	IEEE Industrial Electronics Soc
Starting Page	1349
Ending Page	1354
File Size	417777
Page Count	6
File Format	PDF
ISBN	0780379063
DOI	10.1109/IECON.2003.1280253
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-11-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Control systems Impedance Master-slave Medical control systems Automatic control Medical robotics Robotics and automation Biomedical engineering Design engineering
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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