規格化行列を用いた加速度制御に基づくミクロ/マクロバイラテラル制御による実世界力覚伝達

概要

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This paper proposes novel micro/macro bilateral control based on acceleration control with standardization matrix. In bilateral control, force control and position control should be realized simultaneously. However, they are not able to be realized in one real axis at the same time. Thus, force control and position control are realized in virtual mode space in this paper. Then, the proposed standardization matrix is able to harmonize the standard of macro master system with the standard of micro slave system in the virtual mode space. With the proposed method, the transmission of force sensation from the real micro environment is realized. The experimental results are shown to verify the viability of the proposed method.
社団法人電気学会の論文
2008-06-01