Title :
Hybrid Control of Remote Controlled Bilateral Manipulation System
Author :
Kakizoe, Yuki ; Nakamurai, Hisakazu ; Nishitani, Hirokazu
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol.
Abstract :
We propose a new hybrid control scheme for stable bilateral manipulation. The proposed system consists of two control elements; position control and adaptive force control. These two control elements can be automatically selected according to the contact situation with the environment. Under a large information transmission delay, the proposed control system maintains its stability. Finally, we confirm the effectiveness of the method by experiments
Keywords :
adaptive control; delays; manipulators; position control; telecontrol; adaptive force control; hybrid control; information transmission delay; position control; remote controlled stable bilateral manipulation system; Adaptive control; Automatic control; Communication system control; Control systems; Delay; Force control; Manipulators; Master-slave; Motion control; Programmable control; Adaptive Force Control; Bilateral Control; Hybrid Control; Information Delay;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315457
