Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Shuhei Shimmyo, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ3597-3602
ページ数6
ISBN(電子版)9781728148786
DOI
出版ステータスPublished - 2019 10月
外部発表はい
イベント45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
継続期間: 2019 10月 142019 10月 17

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
国/地域Portugal
CityLisbon
Period19/10/1419/10/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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