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

10 被引用数 (Scopus)

抄録

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.

本文言語English
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
ページ2035-2040
ページ数6
DOI
出版ステータスPublished - 2005 12 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 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

引用スタイル