A design method of scaling bilateral control with drift
K Watanabe, K Ohnishi - 2013 IEEE International Conference …, 2013 - ieeexplore.ieee.org
In this paper, a scaling bilateral control method with drift is proposed. The control targets of
the general bilateral control are simply defined as the each position difference and the each
force sum. On the other hand, the different control targets are defined in scaling bilateral
control. In the proposed method, by introducing the drift function, the form of these control
targets are unified. Then, the precision of position control is improved. In addition, the
proposed one enables to realize some complex scaling bilateral control methods. In this …
the general bilateral control are simply defined as the each position difference and the each
force sum. On the other hand, the different control targets are defined in scaling bilateral
control. In the proposed method, by introducing the drift function, the form of these control
targets are unified. Then, the precision of position control is improved. In addition, the
proposed one enables to realize some complex scaling bilateral control methods. In this …
A design method of scaling bilateral control with drift
K Ohnishi, K Watanabe - 2013 IEEE International Conference on …, 2013 - cir.nii.ac.jp
In this paper, a scaling bilateral control method with drift is proposed. The control targets of
the general bilateral control are simply defined as the each position difference and the each
force sum. On the other hand, the different control targets are defined in scaling bilateral
control. In the proposed method, by introducing the drift function, the form of these control
targets are unified. Then, the precision of position control is improved. In addition, the
proposed one enables to realize some complex scaling bilateral control methods. In this …
the general bilateral control are simply defined as the each position difference and the each
force sum. On the other hand, the different control targets are defined in scaling bilateral
control. In the proposed method, by introducing the drift function, the form of these control
targets are unified. Then, the precision of position control is improved. In addition, the
proposed one enables to realize some complex scaling bilateral control methods. In this …
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