An analysis and design of bilateral control based on disturbance observer

Yuichi Matsumoto, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Paper査読

183 被引用数 (Scopus)

抄録

In this paper, an analysis and design of bilateral control based on disturbance observer are discussed. Poles of bilateral control go to the poles of position control and poles of force control respectively when disturbance observer gain is infinite. Four-channel controller which is hybrid of position and force in the acceleration dimension based on disturbance observer can be divided into two modes: common and differential modes. Position is controlled in differential mode space, force is controlled in common mode space. Relationship between these spaces is revealed, design of bilateral control in the virtual space is proposed. According to this method, design of bilateral control can be treated as position control and force control about one robot separately. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.

本文言語English
ページ802-807
ページ数6
出版ステータスPublished - 2003 12 1
イベント2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
継続期間: 2003 12 102003 12 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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