電気－油圧アクチュエータを用いた速度指令方式によるバイラテラル制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/11/01

タイトル(英語): Bilateral Control of a Velocity Control System using Electric and Hydraulic Actuators

著者名: 高橋　大樹（埼玉大学），境野　翔（埼玉大学），辻　俊明（埼玉大学），金子　裕良（埼玉大学）

著者名(英語): Daiki Takahashi (Saitama University), Sho Sakaino (Saitama University), Toshiaki Tsuji (Saitama University), Yasuyoshi Kaneko (Saitama University)

キーワード: バイラテラル制御，油圧式アクチュエータ，電気式アクチュエータ，ハプティクス　　bilateral control，hydraulic actuator，electric actuator，haptics

要約(英語): Working in extreme environments (e. g., working at disaster sites) is dangerous for humans. Hence, it is important to use teleoperated robots in such extreme environments. Because heavy lifting work is involved, hydraulic actuators of high output are more commonly used than electric actuators. Therefore, it is necessary to operate remotely controlled robots driven by hydraulic actuators. Bilateral control is remote control with the sense of force. Because most bilateral control systems have been studied mainly using electric actuators, bilateral control using hydraulic actuators is still a challenge. In this study, we propose placing a bilateral controller between an electric actuator on the master side and a hydraulic actuator on the slave side using the position and velocity. The controller exhibits the dynamics of bilateral control systems using the position and velocity. In addition, the control performance of conventional methods and the proposed method are compared and experimentally verified.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.11 （2013）

本誌掲載ページ: 1065-1072 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/133/11/133_1065/_article/-char/ja/