@inproceedings{oai:sucra.repo.nii.ac.jp:00009310,
 author = {辻, 俊明 and 大西, 公平},
 book = {Proceedings of the IEEE-ICIT, International Conference on Industorial Technology, TF-002271},
 month = {},
 note = {This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynarnics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates., (c)2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE., text},
 pages = {96--101},
 publisher = {IEEE-Institute of Electrical and Electronics Engineers, Inc},
 title = {Position/Force Scaling of Function-based Bilateral Control System},
 year = {2004},
 yomi = {ツジ, トシアキ and オオニシ, コウヘイ}
}