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Performance indices are useful as design guidelines of control systems. One of useful performance indices for bilateral teleoperation systems is transparency. It evaluates bilateral teleoperation systems based on a definition of the ideal state of bilateral control. Since the concept is intuitive, it has been widely used in many applications. The evaluation or analysis based on transparency is usually...
In general practice, a geometric tool-path for CNC (computer numerical controlled) machine tools or NC positioning systems is mainly composed of linear motion segments, or so called the G1 commands. This approach exhibits serious limitations in terms of achieving the desired part geometry and productivity in high-speed machining. Velocity and acceleration discontinuities occur at the junction points...
This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient...
The cervical spine rotation-traction manipulation is an important therapeutic technique for cervical spondylosis in the Chinese Traditional Medicine (TCM). However, incidence of medical malpractice is relatively high in the rotation-traction therapy when the unfledged internship physicians give the therapy. Thus, it is crucial to build a cervical spine mechanical emulator to evaluate how well one...
Recently, stepping motors have been widely used in the field of industrial manufacturing for high-speed position control over minute distances. Furthermore, fast and precise position control at finer angles is strongly required. However, a few problems hinder the satisfaction of these requirements when using a stepping motor. For example, the motor becomes expensive and its size increases, and the...
In this paper, four-channel acceleration-based bilateral control(4ch ABC) with band eliminate filter(BEF) under time delay has been proposed. The precedence research of analyzing parameters of 4ch ABC under time delay focuses on the gain characteristics. However, since phase delay occurs under time delay, phase characteristics should also be considered. In this paper, gain and phase characteristics...
This paper discusses problems in low speed wheeled locomotion of wheel-legged mobile robot. We show the kinematic constraints of the acceleration level for wheel-legged mobile robot performs the motion generation. Next, we describe singular configuration problems that occur in low speed wheeled locomotion. The damped least squares method is applied to solve this problem. The effectiveness of the solution...
This paper discusses an improvement of final-state control (FSC). FSC is a control method for transferring the state of a dynamic system to specified states at a specified terminal time by using an external input. So far, it is mainly applied to motion control problems such as servo control of hard disk drives. However, FSC cannot deal with time-varying specified states. For example, when an operator...
Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals, consequently destabilizing the whole control...
Recently, technology which deals with tactile sense has attracted attention in various fields. In particular, researches about storing and reproducing human motion are one of important fields for the haptic technology. A motion-copying system is known as one of efficient methods to achieve storing and reproducing human motion. However, it is known that environmental condition change is serious problem...
This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the...
Modifying data of audio and visual information makes sound from speaker or display size larger or smaller. However, motion data has a different characteristic from audio and visual data in that it is a bilateral information. When the movement of motion data is scaled, it is affected by reaction force from environments.
Among all the sensor fusion approaches, Kalman filter is the most widely used technique for system state estimation. The Kalman filter has many uses, including applications in tracking objects, navigation, economics, computer vision and robot controlling. As an example application, it is suitable method for compensating noise measurements from sensor data input and also for sensor fusion. In this...
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