On-line identification and compensation for sensor-less force feedback using macro-micro bilateral control

Fumito Nishi, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Medical technology and bioengineering have achieved great progress recently. The main reasons are the technique and manipulation system in order to operate a cell directly, but the operational force can not be fedback to the operators. Macro-micro bilateral control is a method for force transmission between an operator and target object. Especially this paper focuses on macro-micro bilateral control in X-Z axis. In macro-micro bilateral control, the gravity force becomes a big problem and an air slider which is mounted on a slave system is used to cancel out the gravity force. However, the difference between air pressure and gravity force, defined as air disturbance, affects the performance of force transmission. Online identification method is necessary to compensate the air disturbance since the value of air disturbance varies according to a shaft's position and time when experiment is done. In this paper, a reaction force observer (RFOB) with a low cut-off frequency and an acceleration method are utilized to obtain only DC component of estimated disturbance online. From the experiments compared with the proposed method and a normal RFOB, it can be confirmed that the proposed method is effective for compensation of the air disturbance.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages277-282
Number of pages6
ISBN (Print)9781467372428
DOIs
Publication statusPublished - 2016 Feb 10
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: 2015 Dec 112015 Dec 13

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period15/12/1115/12/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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