Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

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

9 Citations (Scopus)

Abstract

In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2035-2040
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Shimono, T., Katsura, S., & Ohnishi, K. (2005). Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 2035-2040). [1569217] https://doi.org/10.1109/IECON.2005.1569217

Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. / Shimono, Tomoyuki; Katsura, Seiichiro; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 2035-2040 1569217.

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

Shimono, T, Katsura, S & Ohnishi, K 2005, Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569217, pp. 2035-2040, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569217
Shimono T, Katsura S, Ohnishi K. Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 2035-2040. 1569217 https://doi.org/10.1109/IECON.2005.1569217
Shimono, Tomoyuki ; Katsura, Seiichiro ; Ohnishi, Kouhei. / Improvement of operationality for bilateral control based on nominal mass design in disturbance observer. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 2035-2040
@inproceedings{2d784c3db16043dca2b245eca02c4fde,
title = "Improvement of operationality for bilateral control based on nominal mass design in disturbance observer",
abstract = "In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.",
author = "Tomoyuki Shimono and Seiichiro Katsura and Kouhei Ohnishi",
year = "2005",
doi = "10.1109/IECON.2005.1569217",
language = "English",
isbn = "0780392523",
volume = "2005",
pages = "2035--2040",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

AU - Shimono, Tomoyuki

AU - Katsura, Seiichiro

AU - Ohnishi, Kouhei

PY - 2005

Y1 - 2005

N2 - In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

AB - In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=33749675500&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33749675500&partnerID=8YFLogxK

U2 - 10.1109/IECON.2005.1569217

DO - 10.1109/IECON.2005.1569217

M3 - Conference contribution

AN - SCOPUS:33749675500

SN - 0780392523

SN - 9780780392526

VL - 2005

SP - 2035

EP - 2040

BT - IECON Proceedings (Industrial Electronics Conference)

ER -