A method for improving scaling bilateral control by integration of physical and control scaling ratio

Kenji Ogawa, Ryohei Kozuki, K. Ohnishi
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引用次数: 2

Abstract

This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.
提出了一种物理结垢比与控制结垢比相结合的改善结垢双边控制的方法
提出了一种新的双边控制标度方法。一般情况下,在控制器中设置位置和力的比例因子。在这种情况下,力不仅是由来自环境的反作用力,而且是由外力(如摩擦力)来衡量的。因此,很难从环境反作用力中获得触觉感觉。该方法将结垢率定义为物理结垢率与控制结垢率的乘积。与传统标度法相比,该方法减小了外力的影响。因此,操作人员可以感受到环境力。将该方法应用于电液传动系统(EHTS)。EHTS是一种由两个注射器、管子和液体组成的驱动系统。在EHTS的情况下,物理结垢是由两个注射器直径的比例来定义的。实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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