A Scaling Effect of Visual Force in Haptic Bilateral Control System

カテゴリ: 研究会(論文単位)

論文No: IIC13141

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2013/03/08

タイトル(英語): A Scaling Effect of Visual Force in Haptic Bilateral Control System

著者名: Jamaluddin Muhammad Herman (横浜国立大学),下野 誠通(横浜国立大学),元井 直樹(横浜国立大学)

著者名(英語): Jamaluddin Muhammad Herman (Yokohama National University),Shimono Tomoyuki(Yokohama National University),Motoi Naoki(Yokohama National University)

キーワード: ハプティクス|モーションコントロール|感覚統合|バイラテラル制御|スケーリング|ビジョンシステム|Haptics|Motion Control|Sensory Integration|Bilateral Control|Scaling Factor|Vision System

要約(日本語): This paper proposes a vision-based force controller for a haptic bilateral control system. According to the particular object’s movement, a haptic bilateral system can be navigated in a specific direction by the proposed vision-based force controller. The generated force is treated as a disturbance in the bilateral control strategy. In the paper, the scaling effect which involves the distance between the object and the manipulator is considered as a key feature to be studied. The same magnification factor of vertical movement will be used for the horizontal displacement. The performance of this scaling effect produced by the visual force to the bilateral control system will be examined and analyzed through the actual experiments.

要約(英語): This paper proposes a vision-based force controller for a haptic bilateral control system. According to the particular object’s movement, a haptic bilateral system can be navigated in a specific direction by the proposed vision-based force controller. The generated force is treated as a disturbance in the bilateral control strategy. In the paper, the scaling effect which involves the distance between the object and the manipulator is considered as a key feature to be studied. The same magnification factor of vertical movement will be used for the horizontal displacement. The performance of this scaling effect produced by the visual force to the bilateral control system will be examined and analyzed through the actual experiments.

原稿種別: 日本語

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