Robust motion-tracking control for multilateral systems

Ayaka Matsui, Kazumasa Miura, Seiichiro Katsura

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

Abstract

This paper proposes a robust motion-tracking control for multilateral systems. The multilateral systems have been proposed as the system of acquiring and transmitting the haptic information between some systems. In the multilateral systems which this paper addresses, the operator manipulates one master robot and some slave robots work toward objects as following the operator's motion. Since the operator can work toward some objects at one time, this system leads to better productivity. In the conventional method, however, the reproduced motion is different from the operator's motion when something inputs an unexpected force into the system. As a result, the conventional system may cause the destruction of the objects. This research aims to improve the performance of slave robots and to reproduce the operator's motion accurately in real time. By using the proposed method, the risk of destroying the objects are decreased. The validity of the proposed method is confirmed through the experiments.

Original languageEnglish
Title of host publication2013 15th European Conference on Power Electronics and Applications, EPE 2013
DOIs
Publication statusPublished - 2013 Dec 17
Event2013 15th European Conference on Power Electronics and Applications, EPE 2013 - Lille, France
Duration: 2013 Sep 22013 Sep 6

Publication series

Name2013 15th European Conference on Power Electronics and Applications, EPE 2013

Other

Other2013 15th European Conference on Power Electronics and Applications, EPE 2013
CountryFrance
CityLille
Period13/9/213/9/6

Keywords

  • Acceleration control
  • Bilateral control
  • Disturbance observer
  • Multilateral control

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Fuel Technology
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Robust motion-tracking control for multilateral systems'. Together they form a unique fingerprint.

  • Cite this

    Matsui, A., Miura, K., & Katsura, S. (2013). Robust motion-tracking control for multilateral systems. In 2013 15th European Conference on Power Electronics and Applications, EPE 2013 [6634384] (2013 15th European Conference on Power Electronics and Applications, EPE 2013). https://doi.org/10.1109/EPE.2013.6634384