Performance enhancement of bilateral control with different control performances

Hidetaka Morimitsu, Seiichiro Katsura

研究成果: Conference contribution

抄録

Bilateral control that can render a mechanical impedance of remote object has recently been researched. However, most of the researches assume that master and slave systems of bilateral control have enough bandwidth for transmitting generated torque to an end effector. In practical situation, there might be cases in which mechanically fine systems cannot be utilized. This research discusses a bilateral control in which master side of systems has low control performance. In order to compensate for the interference of position responses with force control caused by the difference of the performances, disturbance observer is constructed in common modal space of bilateral control system. The device characteristics are considered in actual compensation so that the compensation itself does not become the new interference term. The performance enhancement of haptic system relating to contact motion will be shown by simulations and experiments.

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6138-6143
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月 102013 11月 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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