Stability analysis of bilateral control by considering environmental impedance and modeling error

Yoshiyuki Kambara, Seiji Uozumi, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side environmental impedance and ideal acceleration control and load force estimation. However, the stability of ABC is affected by both master and slave side impedance, cutoff frequency of DOB and RFOB, and modeling error. Therefore, this paper proposes the approach for analyzing stability of ABC by considering these factors which affect the stability of the system. The validity of proposed approach is verified by simulation and experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages481-486
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 16
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 2015 Mar 172015 Mar 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period15/3/1715/3/19

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Keywords

  • acceleration control
  • Bilateral control
  • disturbance observer
  • haptics
  • reaction force observer
  • stability analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Kambara, Y., Uozumi, S., & Ohnishi, K. (2015). Stability analysis of bilateral control by considering environmental impedance and modeling error. In Proceedings of the IEEE International Conference on Industrial Technology (June ed., Vol. 2015-June, pp. 481-486). [7125145] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125145