TY - JOUR
T1 - Integrated disturbance compensation of mechanical-control systems for high-precision haptic transmission in micro space
AU - Takeya, Masaki
AU - Nishi, Fumito
AU - Katsura, Seiichiro
PY - 2016
Y1 - 2016
N2 - Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.
AB - Delicate movement with high-precision performance has been required in the field of micro-manipulation driven by microscopic robots, especially cell manipulation. Taking the precise micro-manipulation into account, it needs to avoid the singular configuration of manipulator and the complication of calculation processing. In this paper, a novel macro-micro bilateral control system based on force controller is proposed. By dealing with the interference term caused by a mass fluctuation as a disturbance in modal space, the control structure of high-performance haptic transmission is realized. The validity of the proposed method is confirmed by using the experimental device having a high resolution.
KW - Bilateral control
KW - Disturbance observer
KW - Modal transformation
KW - Motion control
KW - Real-world haptics
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U2 - 10.2493/jjspe.82.487
DO - 10.2493/jjspe.82.487
M3 - Article
AN - SCOPUS:84971476671
SN - 0912-0289
VL - 82
SP - 487
EP - 492
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
IS - 5
ER -