Improvement of reproducibility and operationality for bilateral control by nominal mass design

Koichi Nishimura, Tomoyuki Shimono, Kouhei Ohnishi

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

6 Citations (Scopus)

Abstract

There are two evaluation indices for bilateral control systems based on transparency, which are "Reproducibility" and " Operationality". Reproducibility is degree of reproduction of the environmental impedance in the master side. Operationality is degree of operational force which a human operator feels besides reaction force from environments. It is desirable that these evaluation indices are improved as much as possible. In this research, a master-slave manipulator which is controlled by a bilateral controller with disturbance observers is described. This paper shows that reproducibility and operationality of the bilateral system are improved based on design of nominal mass which is a parameter of a disturbance observer. It is possible to improve reproducibility and operationality simultaneously with an appropriate nominal mass design. Furthermore, variation of stability of the system because of variation of nominal mass is analyzed with root locus. Validity of this research is confirmed by experimental results.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages1326-1331
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Improvement of reproducibility and operationality for bilateral control by nominal mass design'. Together they form a unique fingerprint.

  • Cite this

    Nishimura, K., Shimono, T., & Ohnishi, K. (2006). Improvement of reproducibility and operationality for bilateral control by nominal mass design. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 1326-1331). [4237862] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372540