Performance enhancement of bilateral control with different control performances

Hidetaka Morimitsu, Seiichiro Katsura

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

Abstract

Bilateral control that can render a mechanical impedance of remote object has recently been researched. However, most of the researches assume that master and slave systems of bilateral control have enough bandwidth for transmitting generated torque to an end effector. In practical situation, there might be cases in which mechanically fine systems cannot be utilized. This research discusses a bilateral control in which master side of systems has low control performance. In order to compensate for the interference of position responses with force control caused by the difference of the performances, disturbance observer is constructed in common modal space of bilateral control system. The device characteristics are considered in actual compensation so that the compensation itself does not become the new interference term. The performance enhancement of haptic system relating to contact motion will be shown by simulations and experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6138-6143
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

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Morimitsu, H., & Katsura, S. (2013). Performance enhancement of bilateral control with different control performances. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6138-6143). [6700144] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700144