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 publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages697-702
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

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

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    Motoi, N., Kubo, R., Shimono, T., & Ohnishi, K. (2010). Bilateral control with different inertia based on modal decomposition. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 697-702). [5464046] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464046