Macro-micro bilateral control system without position limitation

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20142717886365
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(1) School of Integrated Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku, Yokohama, 223-8522, Japan; (2) Department of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku, Yokohama, 223-8522, Japan | 1600年 / IEEE Industrial Electronics Society (IES)卷 / Institute of Electrical and Electronics Engineers Inc., United States期
关键词：
Recently; robots for micro manipulation are desired in the medical care field. In that case; transmission of haptic sensation of micro object is very important. It is achieved by macro-micro bilateral control system. In the macro-micro bilateral control system; position and force of slave motor are enlarged. Therefore; slave motor position is limited by scaling gain. Due to this limitation; if scaling gain is high; slave may not be able to touch the environment. On the other hand; dimensional scaling bilateral control system does not have position limitation. In the dimensional scaling bilateral control system; slave velocity tracks the master position. In this paper; in order to avoid the position limitation of slave motor; the control system which consists of macro-micro bilateral control system and dimensional scaling bilateral control system is proposed. © 2014 IEEE;
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