An analysis and design of bilateral control based on disturbance observer

Yuichi Matsumoto, Seiichiro Katsura, Kouhei Ohnishi

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

179 Citations (Scopus)

Abstract

In this paper, an analysis and design of bilateral control based on disturbance observer are discussed. Poles of bilateral control go to the poles of position control and poles of force control respectively when disturbance observer gain is infinite. Four-channel controller which is hybrid of position and force in the acceleration dimension based on disturbance observer can be divided into two modes: common and differential modes. Position is controlled in differential mode space, force is controlled in common mode space. Relationship between these spaces is revealed, design of bilateral control in the virtual space is proposed. According to this method, design of bilateral control can be treated as position control and force control about one robot separately. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages802-807
Number of pages6
Volume2
Publication statusPublished - 2003
Event2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
Duration: 2003 Dec 102003 Dec 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

Fingerprint

Poles
Force control
Position control
Industrial manipulators
Robots
Controllers

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Matsumoto, Y., Katsura, S., & Ohnishi, K. (2003). An analysis and design of bilateral control based on disturbance observer. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 2, pp. 802-807)

An analysis and design of bilateral control based on disturbance observer. / Matsumoto, Yuichi; Katsura, Seiichiro; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2 2003. p. 802-807.

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

Matsumoto, Y, Katsura, S & Ohnishi, K 2003, An analysis and design of bilateral control based on disturbance observer. in Proceedings of the IEEE International Conference on Industrial Technology. vol. 2, pp. 802-807, 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings, Maribor, Slovenia, 03/12/10.
Matsumoto Y, Katsura S, Ohnishi K. An analysis and design of bilateral control based on disturbance observer. In Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2. 2003. p. 802-807
Matsumoto, Yuichi ; Katsura, Seiichiro ; Ohnishi, Kouhei. / An analysis and design of bilateral control based on disturbance observer. Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2 2003. pp. 802-807
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