Large scale micro-macro bilateral control using piezoelectric cantilever with plant nominalization

Yoshitomo Matsumi, Daiki Suzuki, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

As far as authors' understanding, scaling factors presented in this paper are the highest values in the researches about force sensorless bilateral control. The cantilever is nominalized by disturbance observer in order to control master and slave with same method, which is intended to simplify the control system. An operator can feel magnified reaction force applied to the cantilever without force sensors by utilizing reaction force observer. Operationality and reproducibility are defined mathematically. Characteristics of these values and stability are analyzed and experimentally verified.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3946-3951
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

Keywords

  • bilateral control
  • haptics
  • microelectromechanical systems
  • micromanipulators
  • observers
  • piezoelectric actuators
  • sensorless control
  • user interface

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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