Force-sensorless bilateral control using piezoelectric cantilever with Nonlinearity Compensation

Yoshitomo Matsumi, Koyo Yu, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

In the research about force sensorless bilateral control using piezoelectric cantilever, nonlinearities of piezoelectric constant and creep phenomenon has not been considered in reaction force observer (RFOB). Therefore, there are room for improvement of the performance of force estimation. In this paper, piezoelectric constant and creep phenomenon are modeled based on experimental results and built into RFOB to improve the performance of reaction force estimation. The validity of proposed method is confirmed through experiments of micro-macro bilateral control between linear motor and piezoelectric cantilever.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages61-66
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Bilateral control
  • Haptics
  • Microelectromechanical systems
  • Micromanipulators
  • Nonlinearity
  • Observers
  • Piezoelectric actuators
  • Sensorless control

ASJC Scopus subject areas

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

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  • Cite this

    Matsumi, Y., Yu, K., & Ohnishi, K. (2014). Force-sensorless bilateral control using piezoelectric cantilever with Nonlinearity Compensation. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 61-66). [6823258] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823258