A reduction method of stochastic disturbance based on resonant filter in macro-micro bilateral control system

Masaki Takeya, Seiichiro Katsura

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

Abstract

This paper proposes a reduction method of stochastic disturbance that is focused on haptic information in the micro space. Presently in the industry, haptic information is attracting attention as the tertiary media following audio and visual information. Haptic information has characteristics of bidirectionality and scaling that extended human ability by using master and slave robots. Especially, high-precision performance including haptic information is required by the industrial robots such as a field of medical care. In the conventional method, however, desired motion cannot be achieved precisely under the influence of the stochastic disturbance like sensor noise in the minute region. High precision of the motion control is closely related to reduce the influence of the sensor noise and perform acceleration control. Therefore, this paper focuses on resonant filter that is presented the study of quantum physics that treats a probabilistic phenomenon. The control system that considered the stochastic disturbance is proposed by constructing the disturbance observer based on the complex equivalent circuit of Schrödinger equation. The viability of the proposed model and the reduction of the oscillation are confirmed by performing analysis and experiments in scaling bilateral control.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2663-2668
Number of pages6
ISBN (Electronic)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Takeya, M., & Katsura, S. (2014). A reduction method of stochastic disturbance based on resonant filter in macro-micro bilateral control system. In IECON Proceedings (Industrial Electronics Conference) (pp. 2663-2668). [7048882] (IECON Proceedings (Industrial Electronics Conference)). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7048882