Realization of bilateral haptic communication between different DOF systems based on Clarke transformation

Author

Shimono, Tomoyuki ; Kawamura, Atsuo

Author_Institution

Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2010

fDate

21-24 March 2010

Firstpage

703

Lastpage

708

Abstract

This paper proposes a new bilateral motion control method with coordinate transformation for different degrees of freedom (DOF) systems. The proposed method is based on the Clarke transformation which is one of the most basic principles in power electronics. The Clarke transformation can achieve the information conversion between three-phase system and two-phase system. The proposed method based on this principle realizes the haptic communication between three DOF system and two DOF system. The validity of the proposed method is verified by simulation results.

Keywords

acceleration control; haptic interfaces; motion control; transforms; Clarke transformation; DOF systems; bilateral haptic communication; bilateral motion control; coordinate transformation; degrees-of-freedom; three-phase system; two-phase system; Acceleration; Communication system control; Communications technology; Control systems; Force control; Haptic interfaces; Humans; Master-slave; Motion control; Power electronics;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2010 11th IEEE International Workshop on

Conference_Location

Nagaoka, Niigata

ISSN

1943-6572

Print_ISBN

978-1-4244-6668-9

Electronic_ISBN

1943-6572

Type

conf

DOI

10.1109/AMC.2010.5464043

Filename

5464043