Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
Recently, bilateral teleoperation system using an electric helicopter as a slave robot has been researched. Although conventional methods utilize a static controller, an unignorable position/force tracking error is induced by grand effect. A propeller's angular velocity-thrust force characteristics changes depending on a distance between a helicopter and a grand due to grand effect. This paper therefore proposes a gain scheduling controller which changes the controller gain depends on a distance between a helicopter and a grand. The validity of the proposed controller is verified by experiment. The validity of the proposed control system is verified by experiment.
