TY - GEN
T1 - Combining position and acceleration information for high performance of bilateral control using Kalman-filter-based disturbance observer
AU - Mitsantisuk, Chowarit
AU - Tran, Thao Phuong
AU - Ohishi, Kiyoshi
AU - Katsura, Seiichiro
N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2010
Y1 - 2010
N2 - Disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving robustness of the force control and accuracy of the force estimation. Current and velocity information are the reference inputs of the disturbance observer whereas the external force estimation is the output. Generally, velocity information without noise effects can be calculated by using low-pass filter but the bandwidth of the data is limited. To obtain wide bandwidth of force sensing with low noise, we have utilized the Kalman filter technique to estimate the motor velocity with the measured data from both linear encoders and acceleration sensors. Through the combination of the linear encoder with an acceleration sensor measurement, a velocity reference containing improved bandwidth can be achieved. This paper will demonstrate that Kalman-filter-based disturbance observer as applied to bilateral control system can provide wide bandwidth superior to the conventional one. In order to ensure the improvements of the proposed method, some experimental results of bilateral control is confirmed theoretically.
AB - Disturbance observer is significantly becoming the preferred approach since it offers distinct advantages of improving robustness of the force control and accuracy of the force estimation. Current and velocity information are the reference inputs of the disturbance observer whereas the external force estimation is the output. Generally, velocity information without noise effects can be calculated by using low-pass filter but the bandwidth of the data is limited. To obtain wide bandwidth of force sensing with low noise, we have utilized the Kalman filter technique to estimate the motor velocity with the measured data from both linear encoders and acceleration sensors. Through the combination of the linear encoder with an acceleration sensor measurement, a velocity reference containing improved bandwidth can be achieved. This paper will demonstrate that Kalman-filter-based disturbance observer as applied to bilateral control system can provide wide bandwidth superior to the conventional one. In order to ensure the improvements of the proposed method, some experimental results of bilateral control is confirmed theoretically.
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U2 - 10.1109/IECON.2010.5675320
DO - 10.1109/IECON.2010.5675320
M3 - Conference contribution
AN - SCOPUS:78751477617
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2069
EP - 2074
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -