Improvement of operationality for bilateral control based on nominal mass design in disturbance observer

Tomoyuki Shimono, Seiichiro Katsura, Kouhei Ohnishi

研究成果: Conference contribution

12 被引用数 (Scopus)


In recent years, although there are many researches on bilateral control, there is little research on improvement of operationality. It will be so effective for operators to improve the operationality of the system in bilateral control. In this paper, a new improving method of operationality which is based on design of nominal mass in disturbance observer is proposed. First, disturbance observer which is implemented in the system is introduced. Then, the relationship between observer gain and nominal mass variation in disturbance observer is discussed. Secondly, bilateral control for transmitting of vivid force sensation is proposed. Then, the proposed method is applied to bilateral control. Finally, the experimental results show the viability of the proposed method.

ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
出版ステータスPublished - 2005 12月 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11月 62005 11月 10


名前IECON Proceedings (Industrial Electronics Conference)


OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
国/地域United States
CityRaleigh, NC

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