频域微宏观双边控制

Midori Miyagaki, K. Ohnishi
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引用次数: 0

摘要

最近,人们开始关注触觉的传递。•双边控制•是一种利用主从系统传输远程环境触觉的技术。然而,软环境的原始触觉非常小,难以识别。在这种情况下,通过在频域中缩放力信息,对触觉感官的识别变得更容易。本文提出了一种只能对任意频域的力进行缩放的双边控制方法。传统方法采用在线傅里叶变换对任意频域的力信息进行缩放。因此,在传统方法中存在延迟。在该方法中,仅使用复数作为缩放率对从力信息进行缩放。复数缩放率包含一个滤波器的函数。结果表明,该方法无延迟,可以在任意频域对力进行缩放。根轨迹稳定性分析表明,该方法是稳定的。并对频率特性进行了分析。通过实验验证了所分析频率特性的有效性。此外,通过穿透实验证明了该方法的有效性,即在穿透薄膜的瞬间加力。
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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.
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