Disturbance compensation based on data memory for macro-micro bilateral control

Yosuke Mizutani, Seiichiro Katsura

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

In macro-micro bilateral control system, position and force of master system is scaled down, and those of slave system are enlarged. The disturbance to slave motor is also enlarged. Therefore, in the macro-micro bilateral control with high scaling rate, the disturbance of slave motor worsens the performance of macro-micro bilateral control. The disturbance due to friction and error of nominal mass is considered, in this paper. It has characteristic of nonlinear. The compensation methods depend on velocity and acceleration is proposed in this paper. It consists of disturbance saving system and disturbance loading system. In the disturbance saving system, disturbance data memory is made. In the disturbance loading system, disturbance is compensated according to velocity and acceleration. The proposed system improves the performance of macro-micro bilateral control. The availability of proposed model is confirmed by experiment.

元の言語English
ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOI
出版物ステータスPublished - 2013 8 22
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5 282013 5 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Taiwan, Province of China
Taipei
期間13/5/2813/5/31

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

これを引用

Mizutani, Y., & Katsura, S. (2013). Disturbance compensation based on data memory for macro-micro bilateral control. : 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563728] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563728