Force feedback from micro environment considering nominal mass of disturbance observer

Shutaro Yorozu, Seiichiro Katsura

Research output: Contribution to conferencePaper

Abstract

Motion control has been developed in recent decades. In particular, disturbance observer encouraged the development of motion control. Disturbance observer has parameter variations such as the variations of force constant and the variations of mass. Especially, this paper focuses on nominal mass variations. The nominal mass variations of disturbance observer work as phase compensator, but the nominal mass variations of reaction force observer are not considered until now. This paper shows that the nominal mass variations of reaction force observer reduce the oscillation of the system. This paper applies the proposed method to macro-micro bilateral control. Since some noises bring on the oscillation of the system, reduction of some noises are essencial technique for stable tele-operation. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.

Original languageEnglish
Pages1871-1876
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yorozu, S., & Katsura, S. (2009). Force feedback from micro environment considering nominal mass of disturbance observer. 1871-1876. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5414828