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An Approach to Force-Sensorless Bilateral Control in Master-Slave System with Different Configurations

Year: 2011

Type: article

Abstract: In this paper, force-sensorless bilateral control methods for a master-slave system with different configurations are proposed. Two types of bilateral control architectures are presented. One is based on joint space control, and the other is based on work space control. This paper discusses the difference between these control methods from the viewpoint of motion behavior in the singular configuration. Finally, actual experimental results that confirm the validity of the proposed methods are shown.

Source: IEEJ Transactions on Industry Applications

DOI: 10.1541/ieejias.131.777

Authors: Toru Yamashita, Tomoyuki Shimono

Institution: Yokohama National University

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

OpenAlex ID: W2000851560

FWCI: 2.835

Cites: 12

Cited by: 10

Related to: 10