Achievement of high scaling gain macro-micro bilateral control system

Author

Mizutani, Y. ; Katsura, Seiichiro

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

fYear

2013

fDate

10-13 Nov. 2013

Firstpage

4055

Lastpage

4060

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.

Keywords

force control; friction; medical robotics; micromanipulators; patient care; position control; force control; friction structure; high resolution encoder; high scaling gain macromicro bilateral control system; mass identification; medical care; micromanipulation robots; nominal mass; position control; Acceleration; Accuracy; Force; Force control; Friction; Position control; Acceleration; Bidirectional Control; Control Design; Force Control; Motion Compensation; Motion Control; Observers; Position Control; Robot Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE

Conference_Location

Vienna

ISSN

1553-572X

Type

conf

DOI

10.1109/IECON.2013.6699785

Filename

6699785