title   
  

Task based bilateral control for microsystems application

Elitaş, Meltem and Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif (2011) Task based bilateral control for microsystems application. Automatika, 52 (2). pp. 107-117. ISSN 0005-1144

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Abstract

Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motion-system in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective aimed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.

Item Type:Article
Uncontrolled Keywords:Bilateral control; Motion control; Micromanipulation; Teleoperation
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-4661 Electrical engineering. Electronics Nuclear engineering
ID Code:17321
Deposited By:Asif Şabanoviç
Deposited On:27 Oct 2011 16:36
Last Modified:28 Oct 2011 10:56

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