{"title":"高标度增益宏微双边控制系统的实现","authors":"Yosuke Mizutani, S. Katsura","doi":"10.1109/IECON.2013.6699785","DOIUrl":null,"url":null,"abstract":"Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"72 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Achievement of high scaling gain macro-micro bilateral control system\",\"authors\":\"Yosuke Mizutani, S. Katsura\",\"doi\":\"10.1109/IECON.2013.6699785\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.\",\"PeriodicalId\":237327,\"journal\":{\"name\":\"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society\",\"volume\":\"72 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IECON.2013.6699785\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2013.6699785","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Achievement of high scaling gain macro-micro bilateral control system
Recently, in the medical care, in order to achieve micro manipulation, many robots are researched. This paper focuses macro-micro bilateral control system which is one of the micro manipulation robots. Macro-micro bilateral control system consists of position control and force control. Therefore, in this paper, in order to achieve high accuracy macro-micro bilateral control system, high accuracy position control and force control is implemented. Firstly, the high resolution encoder is used. A low friction structure is used to force control. In addition, nominal mass is important for accurate force observation. Therefore, identification of mass is proposed. Macro-micro bilateral control system is implemented with proposed structure and identified nominal mass.
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