Analysis, Modeling, and Compensation of Friction for Scaled Bilateral Control

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/07/01

タイトル(英語): Analysis, Modeling, and Compensation of Friction for Scaled Bilateral Control

著者名: Yosuke Mizutani (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Yosuke Mizutani (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: macro-micro bilateral control system，viscous friction，coulomb friction，scaling

要約(英語): At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

本誌: IEEJ Journal of Industry Applications Vol.3 No.4 （2014） Special Issue on Power Electronics

本誌掲載ページ: 344-349 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/4/3_344/_article/-char/ja/