Combining position and acceleration information for high performance of bilateral control using Kalman-filter-based disturbance observer

Chowarit Mitsantisuk, Thao Phuong Tran, Kiyoshi Ohishi, Seiichiro Katsura

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

Disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving robustness of the force control and accuracy of the force estimation. Current and velocity information are the reference inputs of the disturbance observer whereas the external force estimation is the output. Generally, velocity information without noise effects can be calculated by using low-pass filter but the bandwidth of the data is limited. To obtain wide bandwidth of force sensing with low noise, we have utilized the Kalman filter technique to estimate the motor velocity with the measured data from both linear encoders and acceleration sensors. Through the combination of the linear encoder with an acceleration sensor measurement, a velocity reference containing improved bandwidth can be achieved. This paper will demonstrate that Kalman-filter-based disturbance observer as applied to bilateral control system can provide wide bandwidth superior to the conventional one. In order to ensure the improvements of the proposed method, some experimental results of bilateral control is confirmed theoretically.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ2069-2074
ページ数6
DOI
出版ステータスPublished - 2010
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11 72010 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
国/地域United States
CityGlendale, AZ
Period10/11/710/11/10

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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