Stability analysis of bilateral control by considering environmental impedance and modeling error

Yoshiyuki Kambara, Seiji Uozumi, Kouhei Ohnishi

研究成果: Conference contribution

6 引用 (Scopus)

抜粋

This paper analyzes the stability of acceleration-based bilateral control (ABC) using a disturbance observer (DOB) and a reaction force observer (RFOB) by considering the effect of environmental impedance and modeling error. ABC is one of the control method to enable highly precise transmission of haptic sensation between master and slave robots. Conventionally, ABC is analyzed by using slave side environmental impedance and ideal acceleration control and load force estimation. However, the stability of ABC is affected by both master and slave side impedance, cutoff frequency of DOB and RFOB, and modeling error. Therefore, this paper proposes the approach for analyzing stability of ABC by considering these factors which affect the stability of the system. The validity of proposed approach is verified by simulation and experimental results.

元の言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Industrial Technology
出版者Institute of Electrical and Electronics Engineers Inc.
ページ481-486
ページ数6
2015-June
エディションJune
DOI
出版物ステータスPublished - 2015 6 16
イベント2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
継続期間: 2015 3 172015 3 19

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
Spain
Seville
期間15/3/1715/3/19

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

これを引用

Kambara, Y., Uozumi, S., & Ohnishi, K. (2015). Stability analysis of bilateral control by considering environmental impedance and modeling error. : Proceedings of the IEEE International Conference on Industrial Technology (June 版, 巻 2015-June, pp. 481-486). [7125145] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2015.7125145