論文
微細領域における高精度な力触覚伝送のための機械-制御システムの統合型外乱補償
キーワード:
motion control,
disturbance observer,
bilateral control,
modal transformation,
real-world haptics
2016 年 82 巻 5 号 p. 487-492
詳細
2016 年 82 巻 5 号 p. 487-492
Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.
