Identification and compensation of disturbance for real-world haptics

Takuma Shimoichi, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, the effect of other kinds of disturbance such as friction in an actuator should be minimized to extract clearer tactile information. If the disturbance is known in advance, the pure tactile information is able to be observed by compensation of the disturbance. Therefore, this paper proposes a method of determining modeled disturbance-parameter-values of an actuator. The proposed method is achieved by solving an optimization problem using bilateral control and disturbance model. The performance of bilateral control is increased by compensation of the disturbance using the proposal. The effectiveness of the proposed method is shown by experiments.

本文言語English
ホスト出版物のタイトルAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOI
出版ステータスPublished - 2012 6 4
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3 252012 3 27

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
国/地域Bosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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