Bilateral control with different inertia based on modal decomposition

Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono, Kouhei Ohnishi

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

12 Citations (Scopus)

Abstract

A bilateral control robot is one of the master-slave teleoperation robots. Consider two robots, a master robot is manipulated by human operators and a slave robot contacts remote environment. Decoupling of a force control and a position control in bilateral control is realized using the mode transformation i.e. a force controller in the common mode and a position controller in the differential mode. In conventional method, high transparency in a bilateral control is obtained when the inertia of the master and slave robots are equal. However, high transparency is not achieved when the inertia of the master and slave robots is different. Additionally, transparency goes down in the case of the bilateral control with scaling. Since the common mode and the differential mode interfere when the inertia and scaling of the master robot slave robots are different. In this paper, modal space disturbance observer (MSDOB) is proposed to solve these interferential problems. MSDOB is disturbance observer in the modal space and is implemented in each mode. MSDOB eliminates these interferences and modeling error in the modal space. In the results, decoupling of the force control and the position control is realized. Therefore, high transparency is achieved even if the inertia and the scaling of the master and slave robots are different. From the simulation and experimental results, the validity of the proposed method was confirmed.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages697-702
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Inertia
Robot
Robots
Decomposition
Decompose
Disturbance Observer
Transparency
Position Control
Force Control
Scaling
Decoupling
Force control
Position control
Controller
Teleoperation
Robot Control
Modeling Error
Controllers
Remote control
Eliminate

ASJC Scopus subject areas

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

Cite this

Motoi, N., Kubo, R., Shimono, T., & Ohnishi, K. (2010). Bilateral control with different inertia based on modal decomposition. In International Workshop on Advanced Motion Control, AMC (pp. 697-702). [5464046] https://doi.org/10.1109/AMC.2010.5464046

Bilateral control with different inertia based on modal decomposition. / Motoi, Naoki; Kubo, Ryogo; Shimono, Tomoyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2010. p. 697-702 5464046.

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

Motoi, N, Kubo, R, Shimono, T & Ohnishi, K 2010, Bilateral control with different inertia based on modal decomposition. in International Workshop on Advanced Motion Control, AMC., 5464046, pp. 697-702, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464046
Motoi N, Kubo R, Shimono T, Ohnishi K. Bilateral control with different inertia based on modal decomposition. In International Workshop on Advanced Motion Control, AMC. 2010. p. 697-702. 5464046 https://doi.org/10.1109/AMC.2010.5464046
Motoi, Naoki ; Kubo, Ryogo ; Shimono, Tomoyuki ; Ohnishi, Kouhei. / Bilateral control with different inertia based on modal decomposition. International Workshop on Advanced Motion Control, AMC. 2010. pp. 697-702
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