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This paper proposes a method to calculate operational force in time-delayed 4-channel bilateral control systems. In 4-channel bilateral control systems, operational force becomes unnecessary force for haptic sense transmission. Under time-delay, it is known that this force becomes larger than the force without time-delay. In this paper, it is shown that new force, communicative operational force,...
In this paper, we treat bilateral control system with quantization. Quantization can compress the amount of information, used for communication between master and slave systems.. However in many cases, the performance of the system is deteriorated by quantization error. Therefore, this paper proposes the utilization of multi-level delta-sigma modulator for control system. Multi-level delta-sigma modulator...
This paper examines a stability characteristic of gyrator type bilateral control in order to determine a definite feedback gain and scaling design. Stability is examined based on root locus. Maximum stable gain, transfer impedance and transfer admittance are observed in the examination. Moreover, it is observed that at certain transfer impedance and admittance, gyrator type bilateral control and transformer...
Scaling bilateral control is a method to extend human ability by using master and slave robots. Position scaling extends working space of human; force scaling extends sensitivity of human. This technology is useful when the slave robot is larger in size compared with the master robot. In general, correct environmental impedance, such as softness or hardness of the object, cannot be transmitted in...
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