Analysis of operational force under non-ideal condition for bilateral control

Kazuki Tanida, Kouhei Ohnishi

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

Abstract

Reproducibility and Operationality are used evaluation indices in bilateral control systems. Reproducibility shows degree of reproduction of the environmental impedance in master robot. Operationality shows degree of operation force which human operator feels obstacle force besides environmental impedance. In conventionally, operational force is equal to operationality. However, if system is non-ideal condition such as disturbance modeling error in Reaction Force Observer (RFOB), estimated force will be different from true value. In this condition, operational force is different from operationality. Therefore, in this paper, operational force in non-ideal condition is considered. From experimental bode diagram results, operational force in non-ideal condition was made performance of bilateral control degradation.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages308-313
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Tanida, K., & Ohnishi, K. (2014). Analysis of operational force under non-ideal condition for bilateral control. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 308-313). [6823300] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823300