A Scaling Eect of Visual Force in Haptic Bilateral Control System

Jamaluddin, Muhammad Herman and Shimono, Tomoyuki and Motoi, Naoki (2013) A Scaling Eect of Visual Force in Haptic Bilateral Control System. Industrial Instrumentation and Control (IIC2913) Technical Meeting. pp. 37-42. ISSN 1931-4981

PDF (IIC-MEC2013) IIC-13-141_MEC-13-141.pdf - Published Version Restricted to Registered users only Download (2MB) | Request a copy

Abstract

This paper proposes a vision-based force controller for a haptic bilateral control system. According to the particular objects movement, a haptic bilateral system can be navigated in a specic direction by the proposed vision-based force controller. The generated force is treated as a disturbance in the bilateral control strategy. In the paper, the scaling effect which involves the distance between the object and the manipulator is considered as a key feature to be studied. The same magnication factor of vertical movement will be used for the horizontal displacement. The performance of this scaling eect produced by the visual force to the bilateral control system will be examined and analyzed through the actual experiments.

Item Type:	Article
Additional Information:	Best Paper Award
Uncontrolled Keywords:	haptics, motion control, sensory integration, bilateral control, scaling factor, vision-based system
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Muhammad Herman Jamaluddin
Date Deposited:	09 Jan 2014 03:54
Last Modified:	28 May 2015 04:12
URI:	http://eprints.utem.edu.my/id/eprint/10654
Statistic Details:	View Download Statistic

Actions (login required)

View Item