Integrated disturbance compensation of mechanical-control systems for high-precision haptic transmission in micro space

Masaki Takeya, Fumito Nishi, Seiichiro Katsura

Research output: Contribution to journalArticle


Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.

Original languageEnglish
Pages (from-to)487-492
Number of pages6
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Issue number5
Publication statusPublished - 2016



  • Bilateral control
  • Disturbance observer
  • Modal transformation
  • Motion control
  • Real-world haptics

ASJC Scopus subject areas

  • Mechanical Engineering

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