A design method of observers for bilateral control using dc brushed motor

Yoshiyuki Kambara, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel design method of disturbance observer (DOB) and reaction force observer (RFOB) for acceleration-based bilateral control (ABC) utilizing DC brushed motor (abbreviated as DC motor later). ABC is one of the control method to enable the transmission of haptic sensation between master and slave robots. In order to transmit highly precise haptic sensation, both DOB and RFOB are used for ABC. Conventionally, in case of utilizing these observers, a motor has been considered to be driven by an ideal current source by utilizing the motor driver which has a current minor loop. The gain of current minor loop must be set large value in order to improve current tracking performance. However, there is a limit to increase the gain since it is affected by the the time delay of current minor loop. Therefore, this paper proposes design methods for DOB and RFOB without using current minor loop. Proposed observers estimate disturbance force from acceleration reference, voltage reference, and acceleration response by utilizing novel nominal model for DC motor. Proposed method can improve disturbance estimation performance. Moreover, by utilizing proposed method, DC motor can be controlled without using current sensor. The validity of proposed methods are experimentally verified.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages938-943
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Fingerprint

DC motors
Time delay
Robots
Sensors
Electric potential

Keywords

  • acceleration control
  • Bilateral control
  • disturbance observer
  • haptics
  • reaction force observer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Kambara, Y., & Ohnishi, K. (2016). A design method of observers for bilateral control using dc brushed motor. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 938-943). [7392220] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392220

A design method of observers for bilateral control using dc brushed motor. / Kambara, Yoshiyuki; Ohnishi, Kouhei.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 938-943 7392220.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kambara, Y & Ohnishi, K 2016, A design method of observers for bilateral control using dc brushed motor. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392220, Institute of Electrical and Electronics Engineers Inc., pp. 938-943, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392220
Kambara Y, Ohnishi K. A design method of observers for bilateral control using dc brushed motor. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 938-943. 7392220 https://doi.org/10.1109/IECON.2015.7392220
Kambara, Yoshiyuki ; Ohnishi, Kouhei. / A design method of observers for bilateral control using dc brushed motor. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 938-943
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