Keio University

Tomoko Yano

Kouhei Ohnishi

Masaki Kitajima

Kazuo Nakazawa

Yasuhide Morikawa

Toshiyuki Murakami

Wataru Iida

Souji Ozawa

Toshiharu Furukawa

A position/force control device includes position detectors on a masterside and on a slaveside. Reaction force estimation observersandestimate reaction force based on outputs of the position detectors. A position control partgenerates acceleration signals a, afor controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control partgenerates acceleration signals a, afor controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observersand. The acceleration composition partcomposes the two sets of acceleration signals a, a, and a, a, and outputs the driving signals for the master side and the slave side.

Position/force control device

Growing community of inventors

Yokohama, Japan

Tomoko Yano