Macro-micro bilateral control using Kalman filter based state observer for noise reduction and decoupling of modal space

Yuki Nagatsu, Seiichiro Katsura

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

In this research, a novel structure of macro - micro bilateral control for reduction of quantization noise and interference in the modal space is proposed. Macro-micro manipulation is needed for various fields such as minimally invasive surgery and investigations. Scaled bilateral control is one of key technology for micro manipulation. However, performance of scaled macro-micro bilateral control is deteriorated because of enlarged quantization noise and interference between force and position control. In this research, Kalman Filter base State Observer is extended and constructed in the common and differential modal space in order to reduce effects of enhanced quantization noise which is enlarged by scaling factor. In addition, interference and disturbance are eliminated by using a structure based on a disturbance observer. Validity of proposal is confirmed by simulations and an experiment.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4192-4197
ページ数6
DOI
出版ステータスPublished - 2013
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11 102013 11 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

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

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