{"title":"频域微宏观双边控制","authors":"Midori Miyagaki, K. Ohnishi","doi":"10.1109/AMC.2012.6197047","DOIUrl":null,"url":null,"abstract":"Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain. In this paper, the bilateral control is proposed which can scale only force with arbitrary frequency domain. In a conventional method, force information with the arbitrary frequency domain is scaled with online Fourier transformation. Thus, there is a delay in the conventional method. In the proposed method, only slave force information is scaled by using the complex number as a scaling rate. The complex number scaling rate contains a function of a filter. As a result, the proposed method had no delay and could scale force with the arbitrary frequency domain. Stability analyses with root locus showed that the proposed method were stable. Frequency characteristics were also analyzed. Validity of the analyzed frequency characteristics was confirmed through experiments. In addition, the validity of the proposed method was shown through penetrating experiments by enhancing force at the instant of penetrating through a film.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Micro macro bilateral control in the frequency domain\",\"authors\":\"Midori Miyagaki, K. Ohnishi\",\"doi\":\"10.1109/AMC.2012.6197047\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain. In this paper, the bilateral control is proposed which can scale only force with arbitrary frequency domain. In a conventional method, force information with the arbitrary frequency domain is scaled with online Fourier transformation. Thus, there is a delay in the conventional method. In the proposed method, only slave force information is scaled by using the complex number as a scaling rate. The complex number scaling rate contains a function of a filter. As a result, the proposed method had no delay and could scale force with the arbitrary frequency domain. Stability analyses with root locus showed that the proposed method were stable. Frequency characteristics were also analyzed. Validity of the analyzed frequency characteristics was confirmed through experiments. In addition, the validity of the proposed method was shown through penetrating experiments by enhancing force at the instant of penetrating through a film.\",\"PeriodicalId\":6439,\"journal\":{\"name\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"9 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2012.6197047\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2012.6197047","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Micro macro bilateral control in the frequency domain
Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain. In this paper, the bilateral control is proposed which can scale only force with arbitrary frequency domain. In a conventional method, force information with the arbitrary frequency domain is scaled with online Fourier transformation. Thus, there is a delay in the conventional method. In the proposed method, only slave force information is scaled by using the complex number as a scaling rate. The complex number scaling rate contains a function of a filter. As a result, the proposed method had no delay and could scale force with the arbitrary frequency domain. Stability analyses with root locus showed that the proposed method were stable. Frequency characteristics were also analyzed. Validity of the analyzed frequency characteristics was confirmed through experiments. In addition, the validity of the proposed method was shown through penetrating experiments by enhancing force at the instant of penetrating through a film.