Bilateral Control between Manipulators with Different Structure Considering Fluctuation of Equivalent Mass Matrix

Wanping Lyu, Toshiyuki Murakami

研究成果: Conference contribution

抄録

This paper proposes the bilateral control method for a pair of manipulators which have different structures considering the fluctuation of an equivalent mass matrix. Bilateral control is one of the methods that controls position and force bidirectionally between two actuators. By using this method, operators can get haptic sensation from the remote environment during teleoperation. When considering the practical situation, the desired structure of robots would be different between the operator and remote sides depending on a task or environment. Therefore, bilateral control between two manipulators with different structure needs to be considered. In the method using Workspace Observer (WOB), conventionally, the nominal value is used for the equivalent mass matrix. However, an error occurs between the nominal and true values of equivalent mass matrix, and this error deteriorates the stability or noise-sensitivity of the system. In addition, it deteriorates the accuracy of the force estimation since Workspace Reaction Force Observer (WRFOB) estimates external force including this error. To overcome this problem, the control system needs to be designed based on the equivalent mass, which fluctuates depending on the posture of manipulators. By using the estimated equivalent mass matrix for WOB, the mass fluctuation can be considered, however, the interference between position control and force control occurs as the equivalent mass is different between the master and slave. Therefore, in the proposed method, Modal space Disturbance Observer (MDOB) with estimated task mass matrix is used to reduce the interference. Experiments were conducted to validate the proposed method.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ370-375
ページ数6
ISBN(電子版)9781538669594
DOI
出版ステータスPublished - 2019 5 24
イベント2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
継続期間: 2019 3 182019 3 20

出版物シリーズ

名前Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
国/地域Germany
CityIlmenau
Period19/3/1819/3/20

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 自動車工学
  • 機械工学
  • 制御と最適化
  • 産業および生産工学

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