Disturbance compensation based on data memory for macro-micro bilateral control

Yosuke Mizutani, Seiichiro Katsura

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

2 Citations (Scopus)

Abstract

In macro-micro bilateral control system, position and force of master system is scaled down, and those of slave system are enlarged. The disturbance to slave motor is also enlarged. Therefore, in the macro-micro bilateral control with high scaling rate, the disturbance of slave motor worsens the performance of macro-micro bilateral control. The disturbance due to friction and error of nominal mass is considered, in this paper. It has characteristic of nonlinear. The compensation methods depend on velocity and acceleration is proposed in this paper. It consists of disturbance saving system and disturbance loading system. In the disturbance saving system, disturbance data memory is made. In the disturbance loading system, disturbance is compensated according to velocity and acceleration. The proposed system improves the performance of macro-micro bilateral control. The availability of proposed model is confirmed by experiment.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Mizutani, Y., & Katsura, S. (2013). Disturbance compensation based on data memory for macro-micro bilateral control. In 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563728] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563728