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A Controller Design Method Of Bilateral Control System
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| Author(s) |
Toshiaki Tsuji, Kenji Natori, Kouhei Ohnishi |
| Abstract |
A novel controller design method of bilateral control system is described. Control design problem of bilateral control system is not easy since the relationship between controller structure and system role is not clear. Therefore, a new idea of "function" is suggested. System role is devided into several minimum components and it is defined as "function". Hadamard matrix is introduced so as to transform the robot coordinate into function coordinate. Hereby, the controller of bilateral control system is available to be devided into several controllers based on respective functions. Function based controller design makes the controller design problem simple since each function is a minimum component and each controller design is done independently. Furthermore, the relationship between each function and controller is explicit. Experimental results show that very high transparancy bilateral control is achieved with this method. |
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| Filename: | A16699 |
| Filesize: | 553.6 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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