Control of bilateral force feedback system with flexible mechanism based on resonant ratio control

Eiichi Saito, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Recently, real-world haptics has been researched for tele-operation system. Conventional bilateral control can achieved corresponding master and slave position and action-reaction law. However, if system has flexible mechanism, performance of conventional bilateral control is degraded. Firstly, vibration occurs at slave load side by its flexibility. Secondly, an error between motor position and position of load occurs and synchronism position is not achieved. Thirdly, action-reaction law is not realized as well as position error. In this paper, the structure of bilateral force feedback control in the case of the slave system including the flexibility is proposed. Therefore, the proposed control structure has three important components in the slave system. Firstly, in order to suppress the vibration, resonant ratio control is implemented. Secondly, for corresponding to master and slave position, a modified control goal which is added reaction force estimated by load disturbance observer is proposed. Moreover, action-reaction law between master and slave load is accomplished by positive feedback of load reaction force multiplied inverse system. The effectiveness of the proposed method is verified by actual experiment.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages503-508
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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    Saito, E., & Katsura, S. (2011). Control of bilateral force feedback system with flexible mechanism based on resonant ratio control. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 503-508). [6147500] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147500