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Paper Abstract and Keywords
Presentation 2015-03-03 09:55
Switching Control System between Velocity and Bilateral of 1-DOF Flying Robot
Daisuke Toyama, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada (Mie Univ.) HIP2014-90
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we propose the bilateral control system using the flying robot. Linear motor is utilized for master robot, and 1 degree of freedom (DOF) flying robot is utilized for slave robot. This system switches velocity control and bilateral control. In velocity control, velocity of slave synchronizes with position of the master. In bilateral control, position of slave synchronizes with position of the master. In addition, the law of action and reaction is achieved between master and slave. The operator feels stiffness of an object located around the flying robot. As a result, a safe movement of the flying robot is achieved.
Keyword (in Japanese) (See Japanese page) 
(in English) flying robot / bilateral control / switching control / force sensor / disturbance observer / reaction force observer / /  
Reference Info. IEICE Tech. Rep., vol. 114, no. 483, HIP2014-90, pp. 57-62, March 2015.
Paper # HIP2014-90 
Date of Issue 2015-02-23 (HIP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
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All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee HIP  
Conference Date 2015-03-02 - 2015-03-03 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To HIP 
Conference Code 2015-03-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Switching Control System between Velocity and Bilateral of 1-DOF Flying Robot 
Sub Title (in English)  
Keyword(1) flying robot  
Keyword(2) bilateral control  
Keyword(3) switching control  
Keyword(4) force sensor  
Keyword(5) disturbance observer  
Keyword(6) reaction force observer  
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Keyword(8)  
1st Author's Name Daisuke Toyama  
1st Author's Affiliation Mie University (Mie Univ.)
2nd Author's Name Daisuke Yashiro  
2nd Author's Affiliation Mie University (Mie Univ.)
3rd Author's Name Kazuhiro Yubai  
3rd Author's Affiliation Mie University (Mie Univ.)
4th Author's Name Satoshi Komada  
4th Author's Affiliation Mie University (Mie Univ.)
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Speaker Author-1 
Date Time 2015-03-03 09:55:00 
Presentation Time 25 minutes 
Registration for HIP 
Paper # HIP2014-90 
Volume (vol) vol.114 
Number (no) no.483 
Page pp.57-62 
#Pages
Date of Issue 2015-02-23 (HIP) 


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