Force feedback from micro environment considering nominal mass of disturbance observer

Shutaro Yorozu, Seiichiro Katsura

研究成果: Paper査読

抄録

Motion control has been developed in recent decades. In particular, disturbance observer encouraged the development of motion control. Disturbance observer has parameter variations such as the variations of force constant and the variations of mass. Especially, this paper focuses on nominal mass variations. The nominal mass variations of disturbance observer work as phase compensator, but the nominal mass variations of reaction force observer are not considered until now. This paper shows that the nominal mass variations of reaction force observer reduce the oscillation of the system. This paper applies the proposed method to macro-micro bilateral control. Since some noises bring on the oscillation of the system, reduction of some noises are essencial technique for stable tele-operation. The viability of the proposed method and the reduction of the oscillation are shown by some experimental results.

本文言語English
ページ1871-1876
ページ数6
DOI
出版ステータスPublished - 2009 12 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11 32009 11 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
国/地域Portugal
CityPorto
Period09/11/309/11/5

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

フィンガープリント

「Force feedback from micro environment considering nominal mass of disturbance observer」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル