Hybrid Control of Remote Controlled Bilateral Manipulation System

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...

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Bibliographic Details
Main Authors: Kakizoe, Y., Nakamurai, H., Nishitani, H.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Adaptive Force Control
Automatic control
Bilateral Control
Communication system control
Control systems
Delay
Force control
Hybrid Control
Information Delay
Manipulators
Master-slave
Motion control
Programmable control
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Summary: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
DOI:10.1109/SICE.2006.315457