IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Paper
Analysis, Modeling, and Compensation of Friction for Scaled Bilateral Control
Yosuke MizutaniSeiichiro Katsura
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2014 Volume 3 Issue 4 Pages 344-349

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Abstract

At present, many kinds of robots are being developed for medical care. In medical care, operations often need to be performed at the micro-scale. This study was focused on a macro-micro bilateral control system that can transmit haptic sensations of a micro-environment between master and slave systems. The macro-micro bilateral control system amplifies disturbances; therefore, analysis, modeling and compensation of the disturbances were considered.

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© 2014 The Institute of Electrical Engineers of Japan
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