Title :
Realization of bilateral haptic communication between different DOF systems based on Clarke transformation
Author :
Shimono, Tomoyuki ; Kawamura, Atsuo
Author_Institution :
Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
This paper proposes a new bilateral motion control method with coordinate transformation for different degrees of freedom (DOF) systems. The proposed method is based on the Clarke transformation which is one of the most basic principles in power electronics. The Clarke transformation can achieve the information conversion between three-phase system and two-phase system. The proposed method based on this principle realizes the haptic communication between three DOF system and two DOF system. The validity of the proposed method is verified by simulation results.
Keywords :
acceleration control; haptic interfaces; motion control; transforms; Clarke transformation; DOF systems; bilateral haptic communication; bilateral motion control; coordinate transformation; degrees-of-freedom; three-phase system; two-phase system; Acceleration; Communication system control; Communications technology; Control systems; Force control; Haptic interfaces; Humans; Master-slave; Motion control; Power electronics;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464043
