Control Structure Determination of Bilateral System based on Reproducibility and Operationality

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: 2019/09/01

タイトル(英語): Control Structure Determination of Bilateral System based on Reproducibility and Operationality

著者名: Kazuki Tanida (Graduate School of Science and Engineering, Keio University), Toshiaki Okano (Graduate School of Science and Engineering, Keio University), Toshiyuki Murakami (Graduate School of Science and Engineering, Keio University), Kouhei Ohnishi (Gr

著者名(英語): Kazuki Tanida (Graduate School of Science and Engineering, Keio University), Toshiaki Okano (Graduate School of Science and Engineering, Keio University), Toshiyuki Murakami (Graduate School of Science and Engineering, Keio University), Kouhei Ohnishi (Graduate School of Science and Engineering, Keio University)

キーワード: bilateral control，reproducibility，operationality，phase-lead compensator

要約(英語): The 4ch bilateral control is a teleoperation method that transmits the position and force information between the master and slave, and the reproducibility and operationality are often used to evaluate it. Conventionally, the reproducibility and operationality have been utilized only for performance evaluation, although many controllers based on the 4ch bilateral control scheme have been proposed. Therefore, the aim of this paper is to determine the controller structure based on the target reproducibility and operationality in advance. The contribution of this paper is to develop an appropriate controller from the reproducibility and operationality through numerical computations and analyses. The structure of the proposed controller is verified through simulations and experiments.

本誌: IEEJ Journal of Industry Applications Vol.8 No.5 （2019）

本誌掲載ページ: 767-778 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/8/5/8_767/_article/-char/ja/