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Bilateral Control by Transmitting Force Information with Application to Time-delay Systems and Human Motion Reproduction

Bilateral Control by Transmitting Force Information with Application to Time-delay Systems and Human Motion Reproduction

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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: 2021/03/01

タイトル(英語): Bilateral Control by Transmitting Force Information with Application to Time-delay Systems and Human Motion Reproduction

著者名: Yuki Nagatsu (Department of Electrical Electronic, and Communication Engineering, Chuo University), Hideki Hashimoto (Department of Electrical Electronic, and Communication Engineering, Chuo University)

著者名(英語): Yuki Nagatsu (Department of Electrical Electronic, and Communication Engineering, Chuo University), Hideki Hashimoto (Department of Electrical Electronic, and Communication Engineering, Chuo University)

キーワード: bilateral control,force control,position/force hybrid control,teleoperation,human motion reproduction

要約(英語): The decreasing number of workers and the loss of techniques of skilled workers, associated with an aging society, which can be attributed to the falling birth rate, are serious issues. To solve these problems, human substitution by the robot technology is essential. This study proposes a bilateral control system that only transmits the force information and presents applications to scaled bilateral control, time-delay systems, and human motion preservation and reproduction. The reported study demonstrated that the structure and performance of the proposed bilateral control system are equivalent to those of the conventional four-channel bilateral control using the position/force information. In the proposed method, because the position information is not used, the amount of transmitted or stored data is reduced compared to that in the conventional four-channel bilateral control and motion reproduction using position/force information. Simulations and experiments were conducted to evaluate the proposed method.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 (2021) Special Issue Ⅰ on “Motion Control and its Related Technologies”  Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 165-177 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/10/2/10_20004757/_article/-char/ja/

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